JP2018185198A - Angle detector, relative angle detector, torque sensor, electric power steering device, and vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an angle detector, a relative angle detector, a torque sensor, an electric power steering device, and a vehicle, with which it is possible to detect a rotation angle with high accuracy.SOLUTION: The angle detector includes a sensor unit for detecting the rotation angle of a rotor and outputting a sin signal and a cos signal, with at least one of the sin signal and the cos signal corrected on the basis of sensor correction information that is set in advance so as to ensure that the value of the sin signal outputted by the sensor unit in accordance with the rotation angle of the rotor is brought close to the reference sin signal value of rotation angle of the rotor, or the value of the cos signal outputted by the sensor unit in accordance with the rotation angle of the rotor is brought close to the reference cos signal value of rotation angle of the rotor.SELECTED DRAWING: Figure 21

Description

  The present invention relates to an angle detection device, a relative angle detection device, a torque sensor, an electric power steering device, and a vehicle.

  The vehicle is equipped with an electric power steering device that assists steering by an auxiliary steering force generated by a motor. The electric power steering device includes a motor control device for controlling the motor, and the motor control device controls the motor based on the steering torque detected by the torque sensor, the vehicle speed detected by the vehicle speed sensor, the motor electrical angle, and the like. Then, an auxiliary steering torque is applied to the output shaft. The torque sensor is given to the steering based on the difference (twist angle) of the rotation angle detected by the two angle detection devices provided on the input shaft and the output shaft of the steering shaft connected via the torsion bar. Detect steering torque. For example, Patent Document 1 describes a minute angle detection sensor as an example of an angle detection device. The micro-angle detection sensor described in Patent Document 1 is a multipolar magnet in which an N pole and an S pole are arranged in an annular shape at an equal pitch in the circumferential direction, and according to a change in a magnetic field generated from the multipolar magnet. Two magnetic sensors for outputting the detected signals are arranged, and the displacement angle of two periods of the electrical angle of the detected rotation angle is corrected. Thereby, a minute displacement angle of the detection target can be detected with high accuracy with a simple and inexpensive configuration.

JP 2010-249719 A

However, in the above prior art, the displacement angle is corrected by a correction signal having an opposite phase to the angle error caused by the amplitude ratio of the two magnetic sensors. The torsion angle and output torque in the torque sensor cannot be corrected, and there has been a limit to improving the detection accuracy.

  The present invention has been made in view of the above problems, and provides an angle detection device, a relative angle detection device, a torque sensor, an electric power steering device, and a vehicle that can detect a rotation angle with high accuracy. ,It is an object.

  In order to achieve the above object, an angle detection device according to an aspect of the present invention detects a rotation body that rotates around a rotation axis, and detects a rotation angle of the rotation body and outputs a sin signal and a cos signal. The value of the sin signal output by the sensor unit and the sensor unit according to the rotation angle of the rotating body approaches a reference sin signal value of the rotation angle of the rotating body, or the rotation of the rotating body A storage unit for storing sensor correction information set in advance so that the value of the cos signal output by the sensor unit according to an angle approaches the value of a reference cos signal of the rotation angle of the rotating body; An angle calculation unit that corrects at least one of the sin signal and the cos signal based on the sensor correction information.

  Thereby, the angle detection apparatus can correct the sin signal or the cos signal before calculating the rotation angle of the rotating body in real time. In addition, since the rotation angle of the rotating body is calculated using a value obtained by correcting the sin signal or the cos signal based on previously set known sensor correction information, the detection accuracy of the rotation angle of the rotating body is improved. Therefore, the angle detection device can detect the rotation angle of the rotating body with high accuracy.

As a desirable mode of the angle detection apparatus, the average value of the sin signal is Vsinave, the input signal values are sin θ _i and cos θ _i , the output signal values are sin θ _o and cos θ _o , and the V sinave is stored as the sensor correction information. Preferably, the angle calculation unit calculates the sin θ _o using the following formula (1).

  Thereby, since the offset voltage of the sin signal is corrected, the detection accuracy of the rotation angle of the rotating body is improved.

As a desirable mode of the angle detection device, the average value of the cos signal is Vcosave, the input signal values are sin θ _i and cos θ _i , the output signal values are sin θ _o and cos θ _o , and the Vcosave is stored as the sensor correction information. Preferably, the angle calculator calculates the cos θ _o using the following equation (2).

  Thereby, since the offset voltage of the cos signal is corrected, the detection accuracy of the rotation angle of the rotating body is improved.

As a desirable embodiment of the angle detection device, the maximum value of the sin signal Vsinmax, Vsinmin the minimum value of the sin signal, sin [theta signal value of the input _i, cosθ _i, sinθ _o the signal value of the output, and cos [theta] _o, the It is preferable that Vsinmax and Vsinmin are stored in the storage unit as the sensor correction information, and the angle calculation unit calculates the sin θ _o using the following equation (3).

  Thereby, since the amplitude of the sin signal is normalized, the detection accuracy of the rotation angle of the rotating body is improved.

As a desirable embodiment of the angle detection device, the maximum value of the cos signal Vcosmax, Vcosmin the minimum value of the cos signal, sin [theta signal value of the input _i, cosθ _i, sinθ _o the signal value of the output, and cos [theta] _o, the Vcosmax and Vcosmin are preferably stored in the storage unit as the sensor correction information, and the angle calculation unit preferably calculates the cos θ _o using the following equation (4).

  Thereby, since the amplitude of the cos signal is normalized, the detection accuracy of the rotation angle of the rotating body is improved.

As a desirable mode of the angle detection device, the sensor phase error between the output phase of the sin signal and the output phase of the cos signal is θ _ic , the input signal value is sin θ _i , cos (θ _i + θ _ic ), a signal value sin [theta _o, and cos [theta] _o, the theta _ics is stored in the storage unit as the sensor correction information, wherein the angle computation unit is configured to calculate the sin [theta _o using the following equation (5), the following formula It is preferable to calculate the cos θ _o using (6).

  As the sensor phase error between the output phase of the sin signal and the output phase of the cos signal, a known value measured in advance at the time of shipping inspection of the angle detection device can be used. In addition, the angle detection device can easily perform the correction calculation of the phase of the cos signal with reference to the sin signal by using the equation (6). For this reason, the speed at which the angle detection device calculates the rotation angle of the multipolar ring magnet is improved.

As a desirable mode of the angle detection device, the sensor phase error between the output phase of the sin signal and the output phase of the cos signal is θ _ic , the input signal value is sin (θ _i + θ _ic ), cos θ _i , Signal values are sin θ _o and cos θ _o, and θ _ic is stored in the storage unit as the sensor correction information. The angle calculation unit calculates the cos θ _o using the following equation (7), and the following equation: The sin θ _o is preferably calculated using (8).

  As the sensor phase error between the output phase of the sin signal and the output phase of the cos signal, a known value measured in advance at the time of shipping inspection of the angle detection device can be used. Further, the angle detection device can easily perform the correction calculation of the phase of the sin signal with reference to the cos signal using the equation (8). For this reason, the speed at which the angle detection device calculates the relative rotation angle of the multipolar ring magnet is improved.

As a desirable mode of the angle detection device, the input signal values are sin θ _i and cos θ _i , the output signal values are sin θ _o and cos θ _o , and the angle calculation unit calculates the sin θ _o using the following equation (9). In addition, it is preferable to calculate the cos θ _o using the following equation (10).

  The angle detection device can easily perform a correction operation that suppresses periodic amplitude fluctuations of the sin signal and the cos signal using the equations (9) and (10). For this reason, the speed at which the angle detection device calculates the rotation angle of the rotating body is improved.

  A relative angle detection device according to an aspect of the present invention includes the two angle detection devices described above, and the rotation shafts of both of the two angle detection devices are coaxially arranged, and the angle detection device of one of the angle detection devices A torsion angle calculation unit that calculates a relative angle between the rotation angle of the rotation body and the rotation angle of the rotation body of the other angle detection device.

  Thereby, the relative angle detection device calculates the relative angle between the two rotating bodies based on the rotation angles of the two rotating bodies calculated by correcting the sin signal and the cos signal before calculating the rotating angle of the rotating body in real time. Can be sought. In addition, by using the rotation angle of the rotating body calculated using values obtained by correcting the sin signal and the cos signal based on preset known sensor correction information, the relative angle detection accuracy of the two rotating bodies is improved. improves.

As a desirable mode of the relative angle detection device, the phase error between the rotating bodies between the phase of the one rotating body of the two angle detecting devices and the phase of the other rotating body is represented by θ _mg , and the two angles The rotation angle of one rotating body obtained by one of the detection devices _is θ _is , the rotation angle of the other rotating body obtained by the other is θ _os , the relative angle is Δθ _io , and the θ _mg is the memory Preferably, the torsion angle calculation unit calculates the Δθ _io using the following equation (11).

  Thereby, since the relative angle detection apparatus can obtain a relative angle that absorbs the phase error between the two rotating bodies, the accuracy of detecting the relative angle between the two rotating bodies can be further increased.

As a desirable mode of the relative angle detection device, the phase error between the rotating bodies between the phase of the one rotating body of the two angle detecting devices and the phase of the other rotating body is represented by θ _mg , and the two angles The sin signal obtained by one of the detection devices _is sin θ _is and the cos signal is cos θ _is , the sin signal obtained by the other _is sin θ _os and the cos signal is cos θ _os , the relative angle is Δθ _io, and θ _mg is the above It is preferable that the torsional angle calculation unit stored in the storage unit calculates the Δθ _io using the following equation (12).

  Thereby, since the relative angle detection apparatus can obtain a relative angle that absorbs the phase error between the two rotating bodies, the accuracy of detecting the relative angle between the two rotating bodies can be further increased.

  A torque sensor according to an aspect of the present invention includes the above-described relative angle detection device and a torque calculation unit that calculates torque based on the relative angle, and the rotation shafts of both of the two angle detection devices are torsional. Connected through the bar.

  Thereby, since the torque sensor can perform a torque calculation using the relative angle of the two rotating bodies detected with high accuracy, the torque calculation accuracy can be improved.

  An electric power steering apparatus according to an aspect of the present invention includes the torque sensor described above.

  As a result, the electric power steering apparatus can control the motor with the torque calculated with high accuracy, so that the motor control performance is improved.

  A vehicle according to an aspect of the present invention includes the above-described electric power steering device. According to the vehicle, the steering assist control performance can be improved by improving the motor control performance, and the vehicle can be driven with a stable steering force.

  According to the present invention, it is possible to provide an angle detection device, a relative angle detection device, a torque sensor, an electric power steering device, and a vehicle that can detect a rotation angle with high accuracy.

FIG. 1 is a perspective view schematically showing a vehicle equipped with the electric power steering apparatus according to the first embodiment. FIG. 2 is a schematic diagram of the electric power steering apparatus according to the first embodiment. FIG. 3 is a perspective view schematically illustrating an example of a torque sensor including the relative angle detection device according to the first embodiment. FIG. 4 is a side view schematically illustrating an example of a torque sensor including the relative angle detection device according to the first embodiment. 5 is a cross-sectional view taken along line AA in FIG. 6 is a cross-sectional view taken along the line BB in FIG. FIG. 7 is a diagram illustrating an example of the torque sensor according to the first embodiment. FIG. 8 is a perspective view schematically showing Modification 1 of the torque sensor including the relative angle detection device according to the first embodiment. FIG. 9 is a perspective view schematically illustrating Modification Example 2 of the torque sensor including the relative angle detection device according to the first embodiment. FIG. 10 is a diagram illustrating an example of a torque sensor according to the second modification of the first embodiment. FIG. 11 is a perspective view schematically illustrating a third modification of the torque sensor including the relative angle detection device according to the first embodiment. FIG. 12 is a diagram illustrating an example of a torque sensor according to the third modification of the first embodiment. FIG. 13 is a perspective view schematically illustrating a fourth modification of the torque sensor including the relative angle detection device according to the first embodiment. 14 is a plan view of the fifth rotation angle sensor of the relative angle detection device according to the fourth modification of the first embodiment when viewed in the direction indicated by the arrow E in FIG. 15 is a plan view of the fifth rotation angle sensor of the relative angle detection device according to the fourth modification of the first embodiment when viewed in the direction indicated by the arrow F in FIG. FIG. 16 is a diagram illustrating an example of a torque sensor according to the fourth modification of the first embodiment. FIG. 17 is a perspective view schematically illustrating Modification Example 5 of the torque sensor including the relative angle detection device according to the first embodiment. FIG. 18 is a plan view of the seventh rotation angle sensor of the relative angle detection device according to the fifth modification of the first embodiment when viewed in the direction indicated by the arrow G in FIG. FIG. 19 is a plan view of the seventh rotation angle sensor of the relative angle detection device according to the fifth modification of the first embodiment when viewed in the direction indicated by the arrow H in FIG. 17. FIG. 20 is a diagram illustrating an example of a torque sensor according to the fifth modification of the first embodiment. FIG. 21 is a schematic diagram illustrating functional blocks of the torque sensor according to the first embodiment. FIG. 22 is a diagram illustrating an example of control blocks of the first normalization processing unit and the second normalization processing unit according to the first embodiment. FIG. 23 is a diagram illustrating an example of the normalization operation in the first normalization processing unit and the second normalization processing unit illustrated in FIG. 22. FIG. 24 is a diagram illustrating an example different from FIG. 22 of the control blocks of the first normalization processing unit and the second normalization processing unit according to the first embodiment. FIG. 25 is a diagram illustrating an example of a normalization operation in the first normalization processing unit and the second normalization processing unit illustrated in FIG. 24. FIG. 26 is a diagram illustrating an example of correction targets in the first sensor phase correction unit and the second sensor phase correction unit according to the first embodiment. FIG. 27 is a diagram illustrating an example of control blocks of the first sensor phase correction unit and the second sensor phase correction unit according to the first embodiment. FIG. 28 is a diagram illustrating an example of the phase correction operation in the first sensor phase correction unit and the second sensor phase correction unit illustrated in FIG. 27. FIG. 29 is a diagram illustrating an example different from FIG. 26 of the correction target in the first sensor phase correction unit and the second sensor phase correction unit according to the first embodiment. FIG. 30 is a diagram illustrating an example of a control block different from FIG. 27 of the first sensor phase correction unit and the second sensor phase correction unit according to the first embodiment. FIG. 31 is a diagram illustrating an example of the phase correction operation in the first sensor phase correction unit and the second sensor phase correction unit illustrated in FIG. 30. FIG. 32 is a diagram illustrating an example of control blocks of the first rotation angle calculation unit and the second rotation angle calculation unit according to the first embodiment. FIG. 33 is a diagram illustrating an example of a control block of the twist angle calculation unit according to the first embodiment. FIG. 34 is a schematic diagram illustrating functional blocks of a torque sensor according to a modification of the first embodiment. FIG. 35 is a diagram illustrating an example of a control block of a twist angle calculation unit according to a modification of the first embodiment. FIG. 36 is a schematic diagram illustrating functional blocks of the torque sensor according to the second embodiment. FIG. 37 is a schematic diagram illustrating functional blocks of a torque sensor according to a modification of the second embodiment. FIG. 38 is a diagram illustrating an example of correction targets in the first amplitude variation suppressing unit and the second amplitude variation suppressing unit according to the second embodiment. FIG. 39 is a diagram illustrating an example of control blocks of the first amplitude variation suppressing unit and the second amplitude variation suppressing unit according to the second embodiment. FIG. 40 is a schematic diagram illustrating functional blocks of the torque sensor according to the third embodiment. FIG. 41 is a schematic diagram illustrating functional blocks of a torque sensor according to a modification of the third embodiment. FIG. 42 is a schematic diagram illustrating functional blocks of a torque sensor according to the fourth embodiment. FIG. 43 is a diagram illustrating an example of a correction target in the twist angle calculation unit according to the fourth embodiment. FIG. 44 is a diagram illustrating an example of a control block of a twist angle calculation unit according to the fourth embodiment. FIG. 45 is a schematic diagram illustrating functional blocks of a torque sensor according to a modification of the fourth embodiment. FIG. 46 is a diagram illustrating an example of a control block of a twist angle calculation unit according to a modification of the fourth embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, modes for carrying out the invention (hereinafter referred to as embodiments) will be described in detail with reference to the drawings. In addition, this invention is not limited by the following embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in a so-called equivalent range. Furthermore, the constituent elements disclosed in the following embodiments can be appropriately combined.

(Embodiment 1)
FIG. 1 is a perspective view schematically showing a vehicle equipped with the electric power steering apparatus according to the first embodiment. FIG. 2 is a schematic diagram of the electric power steering apparatus according to the first embodiment. As shown in FIG. 1, the vehicle 101 is equipped with an electric power steering device 80. As shown in FIG. 2, the electric power steering device 80 includes a steering wheel 81, a steering shaft 82, a steering force assist mechanism 83, a universal joint 84, and a lower shaft 85 in the order in which the force given by the operator is transmitted. And a universal joint 86, which are joined to the pinion shaft 87. The electric power steering device 80 includes an ECU (Electronic Control Unit) 90 as a motor control device and a torque sensor 94. The vehicle speed sensor 95 is provided in the vehicle body, and outputs the vehicle speed V to the ECU 90 as a signal by CAN (Controller Area Network) communication.

  As shown in FIG. 2, the steering shaft 82 includes an input shaft 82a and an output shaft 82b. One end of the input shaft 82a is connected to the steering wheel 81, and the other end of the input shaft 82a is connected to the output shaft 82b. One end of the output shaft 82 b is connected to the input shaft 82 a, and the other end of the output shaft 82 b is connected to the universal joint 84. In this embodiment, the input shaft 82a and the output shaft 82b are made of carbon steel for machine structure (SC material (Carbon Steel for Machine Structural Use)) or carbon steel tube for machine structure (so-called STKM material (Carbon Steel Tubes for Machine Structural Purposes). )) And other general steel materials.

  As shown in FIG. 2, the lower shaft 85 is a member connected to the output shaft 82 b via the universal joint 84. One end of the lower shaft 85 is connected to the universal joint 84, and the other end is connected to the universal joint 86. One end of the pinion shaft 87 is connected to the universal joint 86, and the other end of the pinion shaft 87 is connected to the steering gear 88.

  As shown in FIG. 2, the steering gear 88 includes a pinion 88a and a rack 88b. The pinion 88a is connected to the pinion shaft 87. The rack 88b meshes with the pinion 88a. The steering gear 88 converts the rotational motion transmitted to the pinion 88a into a linear motion by the rack 88b. The rack 88 b is connected to the tie rod 89.

  As shown in FIG. 2, the steering force assist mechanism 83 includes a speed reducing device 92 and a motor 93. The motor 93 is, for example, a three-phase brushless motor. The speed reducer 92 is, for example, a worm speed reducer. Torque generated by the motor 93 is transmitted to the worm wheel via the worm inside the speed reducer 92 and rotates the worm wheel. The reduction gear 92 increases the torque generated by the motor 93 by a worm and a worm wheel (worm gear). The speed reducer 92 gives auxiliary steering torque to the output shaft 82b. The electric power steering device 80 is a column assist system.

  The steering torque (including auxiliary steering torque) output via the output shaft 82 b is transmitted to the lower shaft 85 via the universal joint 84 and further transmitted to the pinion shaft 87 via the universal joint 86. The steering torque transmitted to the pinion shaft 87 is transmitted to the tie rod 89 via the steering gear 88 and displaces the wheel.

  The ECU 90 is a device that controls the operation of the motor 93. Electric power is supplied to the ECU 90 from the power supply device 99 (for example, a vehicle-mounted battery) while the ignition switch 98 is on. The ECU 90 acquires signals from the torque sensor 94 and the vehicle speed sensor 95. Specifically, the ECU 90 acquires the steering torque T from the torque sensor 94. The ECU 90 acquires the vehicle speed V of the vehicle body from the vehicle speed sensor 95. The ECU 90 calculates an auxiliary steering command value based on the steering torque T, the vehicle speed V, and the operation information Y. The ECU 90 adjusts the power value X supplied to the motor 93 based on the calculated auxiliary steering command value.

  For example, the motor 93 may be configured as a brushless motor having four or more phases, or may be configured as a brush motor.

  Further, the electric power steering device 80 may be configured as, for example, a rack assist type or pinion assist type electric power steering device.

<Configuration of torque sensor>
FIG. 3 is a perspective view schematically illustrating an example of a torque sensor including the relative angle detection device according to the first embodiment. FIG. 4 is a side view schematically illustrating an example of a torque sensor including the relative angle detection device according to the first embodiment. 5 is a cross-sectional view taken along line AA in FIG. 6 is a cross-sectional view taken along the line BB in FIG. FIG. 7 is a diagram illustrating an example of the torque sensor according to the first embodiment.

  The torque sensor 94A detects the steering torque T applied to the steering wheel 81 and transmitted to the input shaft 82a. Specifically, the torque sensor 94A includes a relative angle detection device 3A and a torque calculator 19 as shown in FIG. The relative angle detection device 3 </ b> A includes a sensor unit 100 </ b> A and a relative angle calculation unit 18.

  As shown in FIG. 3, the sensor unit 100 </ b> A includes a first multipolar ring magnet 10 </ b> A and a second multipolar ring magnet 11 </ b> A that rotate about a rotation axis, and an elastic member such as spring steel. And. The input shaft 82a and the output shaft 82b are coaxially arranged via a torsion bar 82c.

  The sensor unit 100A includes a first rotation angle sensor 12A that detects a rotation angle of the first multipole ring magnet 10A and a second multipole ring magnet that are provided on the radially outer side of the first multipole ring magnet 10A. And a second rotation angle sensor 13 </ b> A that detects the rotation angle of the second multipolar ring magnet 11 </ b> A provided on the outer side in the radial direction of 11 </ b> A.

  In the first embodiment, the first multipolar ring magnet 10A is attached to the end of the input shaft 82a on the output shaft 82b side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the input shaft 82a. . The second multipolar ring magnet 11A is attached to the end of the output shaft 82b on the input shaft 82a side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate in synchronization with the output shaft 82b. The first multipolar ring magnet 10A and the second multipolar ring magnet 11A of Embodiment 1 are obtained by, for example, magnetizing a portion of the outer peripheral surface of the magnetic ring on one of the S and N poles at equal intervals. It is done.

  Specifically, the first multi-pole ring magnet 10A and the second multi-pole ring magnet 11A have, for example, a mesh in the figure as shown in FIGS. 5 and 6 which are the AA cross section and the BB cross section of FIG. Different magnetic poles are alternately arranged in the circumferential direction, such that the shaded part is the N pole and the unshaded part is the S pole. A pair of magnetic poles is composed of a pair of S poles and N poles adjacent to each other in the circumferential direction of the first multipole ring magnet 10A and the second multipole ring magnet 11A.

  Further, the first multipolar ring magnet 10A and the second multipolar ring magnet 11A can be composed of, for example, a neodymium magnet, a ferrite magnet, a samarium cobalt magnet, or the like according to a necessary magnetic flux density.

  The first rotation angle sensor 12A and the second rotation angle sensor 13A are provided at a fixed portion that does not rotate synchronously with the input shaft 82a that is the first rotation shaft and the output shaft 82b that is the second rotation shaft.

  The first rotation angle sensor 12A outputs a sin signal and a cos signal according to the rotation angle of the first multipolar ring magnet 10A. The second rotation angle sensor 13A outputs a sin signal and a cos signal according to the rotation angle of the second multipolar ring magnet 11A.

  Specifically, as shown in FIGS. 3 and 5, the first rotation angle sensor 12 </ b> A is phase-shifted by 90 ° in electrical angle with respect to the magnetic pole pitch (in a state having a phase difference of 90 °). The first sin sensor 14A and the first cos sensor 15A are provided. Further, as shown in FIGS. 3 and 6, the second rotation angle sensor 13 </ b> A is arranged with a phase shift of 90 ° in electrical angle with respect to the magnetic pole pitch (in a state having a phase difference of 90 °). A second sin sensor 16A and a second cos sensor 17A are provided.

  In the first embodiment, the first rotation angle sensor 12A is radial with respect to the first multipole ring magnet 10A so that the first sin sensor 14A and the first cos sensor 15A face the magnetic pole surface of the first multipole ring magnet 10A. It is arranged facing the direction. Further, the second rotation angle sensor 13A faces the second multipole ring magnet 11A in the radial direction so that the second sin sensor 16A and the second cos sensor 17A face the magnetic pole surface of the second multipole ring magnet 11A. Are arranged.

  As the first sin sensor 14A, the first cos sensor 15A, the second sin sensor 16A, and the second cos sensor 17A, for example, a magnetic sensor element such as a Hall element, a Hall IC, or a magnetoresistance effect (MR) sensor is used. be able to.

The 1sin sensor 14A is a second 1sin signal sin [theta _IS and outputs in accordance with the rotation angle (electrical angle) theta _IS first multipole ring magnet 10A, second 1cos sensor 15A, the rotation angle of the first multipolar ring magnets 10A The first cos signal cos θ _is is output according to (electrical angle) θ _is .

Further, the 2sin sensor 16A in accordance with the rotation angle (electrical angle) theta _os second multipolar ring magnets 11A outputs a first 2sin signal sin [theta _os, the 2cos sensor 17A is the second multipolar ring magnets 11A The second cos signal cos θ _os is output according to the rotation angle (electrical angle) θ _os .

The first sin signal sin θ _is , the first cos signal cos θ _is , the second sin signal sin θ _os , and the second cos output from the first sin sensor 14A, the first cos sensor 15A, the second sin sensor 16A, and the second cos sensor 17A of the sensor unit 100A. The signal cos θ _os is input to the relative angle calculator 18 as shown in FIG.

The relative angle calculating portion 18, the 1sin signal sin [theta _IS that has been input, the 1cos signal cos [theta] _IS, based on the 2sin signal sin [theta _os, and the 2cos signal cos [theta] _os, first multipole ring magnet 10A and second multipolar ring A relative angle with respect to the magnet 11A (that is, a relative angle between the input shaft 82a and the output shaft 82b) Δθ _io is calculated. The relative angle calculation unit 18 outputs the calculated relative angle Δθ _io to the torque calculation unit 19.

The torque calculator 19 calculates the steering torque T based on the relative angle Δθ _io input from the relative angle calculator 18. When the relative angle Δθ _io between the two axes connected by the torsion bar 82c is obtained, the torque is calculated by a well-known calculation method using the cross-sectional secondary pole moment, the transverse elastic modulus, the length, the diameter, etc. of the torsion bar 82c. be able to.

In the above-described example, the first sin sensor 14A and the first cos sensor 15A constituting the first rotation angle sensor 12A each have a magnetic sensor element, and the first sin sensor 14A and the first cos sensor 15A each have a first sin signal sin θ _is. and second 1cos signal cos [theta] _iS outputs, first 2sin sensor 16A and the 2cos sensor 17A constituting the second rotation angle sensor 13A has a magnetic sensor element, respectively, the first 2sin sensor 16A and the 2cos sensor 17A respectively 2sin Although the signal sin θ _os and the second cos signal cos θ _os are output, the present invention is not limited to this configuration. For example, the first rotation angle sensor 12A includes two magnetic sensor elements: a magnetic sensor element that outputs a first sin signal sin θ _is and a magnetic sensor element that outputs a first cos signal cos θ _is , and the second rotation angle sensor 13A includes a second sin sensor. may be configured with two magnetic sensor elements of the magnetic sensor element that outputs a magnetic sensor element and the 2cos signal cos [theta] _os outputs a signal sin [theta _os.

<Variation 1 of torque sensor>
FIG. 8 is a perspective view schematically showing Modification 1 of the torque sensor including the relative angle detection device according to the first embodiment.

  In the first modification of the torque sensor 94B according to the first embodiment shown in FIG. 8, instead of the sensor unit 100A shown in FIG. 3, the example shown in FIGS. 3 to 7 includes a sensor unit 100B having a partially different configuration. Is different.

  As illustrated in FIG. 8, the sensor unit 100B includes a third multipolar ring magnet 10B and a fourth multipolar ring magnet 11B instead of the first multipolar ring magnet 10A and the second multipolar ring magnet 11A illustrated in FIG. Is provided.

  The third multipolar ring magnet 10B and the fourth multipolar ring magnet 11B are different from the first multipolar ring magnet 10A and the second multipolar ring magnet 11A shown in FIG. 3 in that the axial end surfaces of the ring magnets are alternately arranged in the circumferential direction. The magnetic poles are magnetized on different magnetic poles.

  The mounting positions of the third multipolar ring magnet 10B and the fourth multipolar ring magnet 11B are the same as those of the first multipolar ring magnet 10A and the second multipolar ring magnet 11A shown in FIG. Moreover, the 3rd multipolar ring magnet 10B and the 4th multipolar ring magnet 11B are comprised from the multipolar ring magnet of the same structure.

  As shown in FIG. 8, the third multipolar ring magnet 10B and the fourth multipolar ring magnet 11B are arranged so that, for example, the shaded portion in the figure is N-pole and the non-shaded portion is S-pole. Magnetic poles different in direction are alternately arranged. A pair of magnetic poles is composed of a pair of S poles and N poles adjacent to each other in the circumferential direction of the third multipole ring magnet 10B and the fourth multipole ring magnet 11B.

  Moreover, the 3rd multipolar ring magnet 10B and the 4th multipolar ring magnet 11B can be comprised from a neodymium magnet, a ferrite magnet, a samarium cobalt magnet etc. according to a required magnetic flux density, for example.

  The sensor unit 100B includes the first rotation angle sensor 12B and the second rotation angle sensor 13B that are the same as the sensor unit 100A illustrated in FIG. 3, but their arrangement positions are different from the configuration illustrated in FIG. 3.

  Specifically, as shown in FIG. 8, in the first modification of the first embodiment, the first rotation angle sensor 12B is such that the first sin sensor 14B and the first cos sensor 15B face the magnetic pole surface of the third multipolar ring magnet 10B. As such, the third multipolar ring magnet 10B is disposed so as to face the axial direction. The second rotation angle sensor 13B is opposed to the fourth multipole ring magnet 11B in the axial direction so that the second sin sensor 16B and the second cos sensor 17B are opposed to the magnetic pole surface of the fourth multipole ring magnet 11B. Are arranged.

  The first rotation angle sensor 12B and the second rotation angle sensor 13B are provided at a fixed portion where neither the input shaft 82a nor the output shaft 82b rotates synchronously.

  In the first modification of the first embodiment, as shown in FIG. 8, the first sin sensor 14B and the first cos sensor 15B are phase-shifted by 90 ° in electrical angle with respect to the magnetic pole pitch (about 90 °). In a state having a phase difference). In the first modification of the first embodiment, as shown in FIG. 8, the second sin sensor 16B and the second cos sensor 17B are shifted in phase by 90 ° in electrical angle with respect to the magnetic pole pitch (about 90 °). In a state having a phase difference).

  As shown in FIG. 8, in the first modification of the first embodiment, the first rotation angle sensor 12B includes the first sin sensor 14B and the first cos sensor 15B formed on one end face in the axial direction of the third multipolar ring magnet 10B. It is arrange | positioned facing the formed magnetic pole surface. In the second rotation angle sensor 13B, the second sin sensor 16B and the second cos sensor 17B are arranged to face a magnetic pole surface formed on one end face in the axial direction of the fourth multipolar ring magnet 11B. For this reason, for example, when the arrangement space in the radial direction cannot be taken with respect to the ring magnet, the rotation angle sensor can be arranged in an axially opposed manner.

<Torque sensor modification 2>
FIG. 9 is a perspective view schematically illustrating Modification Example 2 of the torque sensor including the relative angle detection device according to the first embodiment. FIG. 10 is a diagram illustrating an example of a torque sensor according to the second modification of the first embodiment.

  The second modification of the torque sensor 94C according to the first embodiment illustrated in FIGS. 9 and 10 includes a sensor unit 100C that uses a resolver to detect a relative angle.

  As shown in FIG. 10, the torque sensor 94C according to the second modification of the first embodiment includes a relative angle detection device 3C and a torque calculation unit 19. The relative angle detection device 3 </ b> C includes a sensor unit 100 </ b> C and a relative angle calculation unit 18.

  As shown in FIG. 9, the sensor unit 100 </ b> C includes a first resolver 50, a second resolver 51, and an excitation signal supply unit 56.

  In the example shown in FIG. 10, the first resolver 50 is provided on the inner periphery of the first rotor 10 </ b> C having twelve teeth on the outer periphery and the fixed portion where neither the input shaft 82 a nor the output shaft 82 b rotates synchronously. A first stator 12C having 16 armature windings (magnetic poles) formed by winding a coil around each of 16 equally arranged poles.

  In the example shown in FIG. 10, the second resolver 51 is provided in the second rotor 11C having twelve teeth on the outer periphery and a fixed portion where the input shaft 82a and the output shaft 82b do not rotate synchronously. And a second stator 13C having 16 armature windings (magnetic poles) wound around each of 16 poles equally distributed around the circumference in the circumferential direction.

  In the first resolver 50 and the second resolver 51, the number of teeth is not limited to 12, and may be 11 or less or 13 or more. Further, the number of armature windings is not limited to 16, and may be 15 or less or 17 or more.

  The first rotor 10C is attached to the input shaft 82a so as to be able to rotate synchronously with the input shaft 82a, and the second rotor 11C is attached to the output shaft 82b so as to be able to rotate synchronously with the output shaft 82b.

  The first rotor 10C and the first stator 12C are arranged such that the first stator 12C is concentrically arranged outside the first rotor 10C, and each tooth of the first rotor 10C and each armature winding of the first stator 12C Are arranged to face each other with a predetermined air gap in the radial direction.

  The second rotor 11C and the second stator 13C are arranged such that the second stator 13C is concentrically arranged outside the second rotor 11C, and each tooth of the second rotor 11C and each armature winding of the second stator 13C Are arranged to face each other with a predetermined air gap in the radial direction.

  In the second modification of the first embodiment, the first rotor 10C is attached to the end of the input shaft 82a on the output shaft 82b side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the input shaft 82a. Yes. The second rotor 11C is attached to the end of the output shaft 82b on the input shaft 82a side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the output shaft 82b.

  The excitation signal supply unit 56 supplies a sinusoidal excitation signal to the coils of the armature windings of the first stator 12C and the second stator 13C.

  In the second modification of the first embodiment, the first resolver 50 and the second resolver 51 are four-phase resolvers. In other words, the poles of the first stator 12C and the second stator 13C are provided with a ¼ pitch shift from an integral multiple of the tooth pitch of the first rotor 10C and the second rotor 11C.

  Thus, when the outputs of the 16 armature winding coils of the first stator 12C and the second stator 13C are divided into four 90 ° portions in the circumferential direction, four armature windings within the divided 90 ° circumferential direction are obtained. The output of the line coil is a sine wave (or cosine wave) signal that is 90 degrees out of phase between adjacent armature windings. In Modification 2 of Embodiment 1, among the coils of each armature winding, coils that output the same signal are connected in series.

That is, if the rotation angle of the first rotor 10C _is θ _is , the first sin signal sin θ _is and the first cos signal cos θ _is are obtained from the output of the coil of the first stator 12C.

When the rotation angle of the second rotor 11C is θ _os , the second sin signal sin θ _os and the second cos signal cos θ _os are obtained from the output of the coil of the second stator 13C.

Output from each coil of the sensor unit 100C, the 1sin signal sin [theta _IS, first 1cos the signal cos [theta] _IS, first 2sin signal sin [theta _os, and the 2cos signal cos [theta] _os, as shown in FIG. 10, the relative through the resolver cable Input to the angle calculation unit 18.

The relative angle calculation unit 18 is based on the input first sin signal sin θ _is , first cos signal cos θ _is , second sin signal sin θ _os , and second cos signal cos θ _os , and the relative angle between the first rotor 10C and the second rotor 11C. (Ie, the relative angle between the input shaft 82a and the output shaft 82b) Δθ _io is calculated. The relative angle calculation unit 18 outputs the calculated relative angle Δθ _io to the torque calculation unit 19.

The torque calculator 19 calculates the steering torque T based on the relative angle Δθ _io input from the relative angle calculator 18. When the relative angle Δθ _io between the two axes connected by the torsion bar 82c is obtained, the torque is calculated by a known calculation method using the secondary moment of inertia of the torsion bar 82c, the transverse elastic coefficient, the length, the diameter, and the like. be able to.

<Torque sensor modification 3>
FIG. 11 is a perspective view schematically illustrating a third modification of the torque sensor including the relative angle detection device according to the first embodiment. FIG. 12 is a diagram illustrating an example of a torque sensor according to the third modification of the first embodiment.

  A third modification of the torque sensor 94D according to the first embodiment illustrated in FIGS. 11 to 12 includes a sensor unit 100D that uses an optical encoder to detect a rotation angle.

  A torque sensor 94D according to the third modification of the first embodiment includes a relative angle detection device 3D and a torque calculation unit 19, as shown in FIG. The relative angle detection device 3D includes a sensor unit 100D and a relative angle calculation unit 18.

  As shown in FIG. 11, the sensor unit 100D includes an annular and thin plate-shaped first code wheel 10D and second code wheel 11D, and a third rotation angle sensor 12D that detects the rotation angle of the first code wheel 10D. And a fourth rotation angle sensor 13D for detecting the rotation angle of the second code wheel 11D.

  In the first code wheel 10 </ b> D, a plurality of slits 10 </ b> Ds including rectangular through holes in a plan view are formed at equal intervals in the circumferential direction in the vicinity of the outer peripheral portion of the plate surface.

  In the second code wheel 11D, a plurality of slits 11Ds each formed of a rectangular through hole in a plan view are formed in the vicinity of the outer peripheral portion of the plate surface at equal intervals along the circumferential direction.

  In the third modification of the first embodiment, the first code wheel 10D is attached to the end of the input shaft 82a on the output shaft 82b side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the input shaft 82a. ing. The second code wheel 11D is attached to the end of the output shaft 82b on the input shaft 82a side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the output shaft 82b.

  The third rotation angle sensor 12D and the fourth rotation angle sensor 13D are provided at a fixed portion where neither the input shaft 82a nor the output shaft 82b rotates synchronously.

Third rotational angle sensor 12D outputs a first 1sin signal sin [theta _IS and the 1cos signal cos [theta] _IS in accordance with the rotation angle of the first code wheel 10D.

Fourth rotary angle sensor 13D outputs a first 2sin signal sin [theta _os and the 2cos signal cos [theta] _os in accordance with the rotation angle of the second code wheel 11D.

  Specifically, the third rotation angle sensor 12D includes a first sin optical sensor 14D disposed with a phase shift of 90 ° in electrical angle (with a phase difference of 90 °) with respect to the pitch of the slits 10Ds. A first cos optical sensor 15D is provided. In addition, the fourth rotation angle sensor 13D has a second sin optical sensor 16D and a second cos arranged with a phase shift of 90 ° in electrical angle with respect to the pitch of the slits 11Ds (with a phase difference of 90 °). An optical sensor 17D is provided.

The first sin optical sensor 14D outputs a first sin signal sin θ _is in accordance with the rotation angle of the first code wheel 10D, and the first cos optical sensor 15D has a first cos signal cos θ _is in accordance with the rotation angle of the first code wheel 10D. Is output.

The second sin optical sensor 16D outputs a second sin signal sin θ _os according to the rotation angle of the second code wheel 11D, and the second cos optical sensor 17D outputs the second cos signal according to the rotation angle of the second code wheel 11D. Output cos θ _os .

  Here, an example of a schematic structure of each optical sensor will be described. Each optical sensor includes a detection frame having a substantially U-shaped axial cross section, a light source provided in an upper frame portion of two frame portions facing the upper and lower sides inside the detection frame, and an inner side of the detection frame And a light receiving portion provided on the lower frame portion of the two frame portions facing each other. The light source and the light receiving unit are arranged to face each other so that the light receiving unit can receive light emitted from the light source.

  Each optical sensor has an outer peripheral end portion of the first code wheel 10D (second code wheel 11D) so that the entire slit 10Ds (11Ds) passes through the space between the light source and the light receiving unit inside the detection frame. It arrange | positions so that the area | region containing the formation position of a slit may be inserted | pinched between the two frame parts of a detection frame. That is, the light emitted from the light source passes through the slit 10Ds (11Ds) and is arranged so as to be received by the light receiving unit.

The relative angle calculating portion 18, the 1sin signal sin [theta _IS that has been input, the 1cos signal cos [theta] _IS, based on the 2sin signal sin [theta _os, and the 2cos signal cos [theta] _os, first multipole ring magnet 10A and second multipolar ring A relative angle with respect to the magnet 11A (that is, a relative angle between the input shaft 82a and the output shaft 82b) Δθ _io is calculated. The relative angle calculation unit 18 outputs the calculated relative angle Δθ _io to the torque calculation unit 19.

The torque calculator 19 calculates the steering torque T based on the relative angle Δθ _io input from the relative angle calculator 18. When the relative angle Δθ _io between the two axes connected by the torsion bar 82c is obtained, the torque is calculated by a well-known calculation method using the cross-sectional secondary pole moment, the transverse elastic modulus, the length, the diameter, etc. of the torsion bar 82c. be able to.

  In the above-described example, a plurality of slits 10Ds and 11Ds are provided in the vicinity of the outer peripheral portions of the plate surfaces of the first code wheel 10D and the second code wheel 11D along the circumferential direction, and light source light passing through the slits 10Ds and 11Ds is provided. Although the light receiving unit receives light, the present invention is not limited to this structure. For example, in the vicinity of the outer periphery of the plate surface of the first code wheel 10D and the second code wheel 11D made of a non-reflective member, instead of the slits 10Ds and 11Ds, for example, the same shape as the slits 10Ds and 11Ds along the circumferential direction It is good also as a structure which provides the reflective member of this and receives the reflected light of the light source light which injected into this reflective member in a light-receiving part.

  In the above-described example, the first sin optical sensor 14D and the first cos optical sensor 15D are arranged by shifting the phase by an electrical angle of 90 ° with respect to the pitch of the slit 10Ds (with a phase difference of 90 °). Then, the second sin optical sensor 16D and the second cos optical sensor 17D are arranged so as to be shifted in phase by 90 ° in electrical angle with respect to the pitch of the slits 11Ds (in a state having a phase difference of 90 °). Not limited to this configuration, two slit rows with the same pitch are provided in the radial direction, and the other slit phase is shifted in phase in the radial direction by an electrical angle of 90 ° (having a phase difference of 90 °). It is good also as a structure arrange | positioned in a state. In this case, for example, the two optical sensors are arranged in the radial direction and fixedly arranged in the same phase, and the optical sensors are arranged so that the light source light transmitted through the slits can be received for each slit row. However, the sensor on the inner diameter side cannot be made U-shaped due to installation problems, so the sensor shape needs to be changed.

<Modification 4 of torque sensor>
FIG. 13 is a perspective view schematically illustrating a fourth modification of the torque sensor including the relative angle detection device according to the first embodiment. 14 is a plan view of the fifth rotation angle sensor of the relative angle detection device according to the fourth modification of the first embodiment when viewed in the direction indicated by the arrow E in FIG. 15 is a plan view of the fifth rotation angle sensor of the relative angle detection device according to the fourth modification of the first embodiment when viewed in the direction indicated by the arrow F in FIG. FIG. 16 is a diagram illustrating an example of a torque sensor according to the fourth modification of the first embodiment.

  A modification 4 of the torque sensor 94E according to the first embodiment shown in FIGS. 13 to 16 includes a sensor unit 100E that uses an eddy current to detect the rotation angle.

  As shown in FIG. 16, the torque sensor 94E according to the fourth modification of the first embodiment includes a relative angle detection device 3E and a torque calculation unit 19. The relative angle detection device 3E includes a sensor unit 100E and a relative angle calculation unit 18.

The sensor unit 100E includes a first target 10E and a second target 11E, a fifth rotation angle sensor 12E that detects the rotation angle of the first target 10E, and a sixth rotation angle sensor 13E that detects the rotation angle of the second target 11E. With.

  The first target 10E includes a first annular conductor 10Ea composed of a ring-shaped and thin plate-shaped conductor, and a sinusoidal shape along the circumferential direction of the outer diameter side end of the first annular conductor 10Ea in plan view from the axial direction. And a first sinusoidal portion 10Eb formed in a shape that changes to That is, the first sinusoidal portion 10Eb has a shape in which the radial width changes in a sinusoidal shape.

  The second target 11E has a sine wave shape along the circumferential direction in plan view from the axial direction of the second annular conductor 11Ea composed of an annular and thin plate-shaped conductor and the outer diameter side end of the second annular conductor 11Ea. And a second sine wave-shaped portion 11Eb formed in a shape that changes. That is, the second sinusoidal portion 11Eb has a shape in which the radial width changes in a sinusoidal shape.

  The 1st target 10E and the 2nd target 11E can be comprised from conductors, such as metals, such as aluminum, steel, copper, or a plastic material containing a metal, for example.

  In the fourth modification of the first embodiment, the first target 10E is attached to the end of the input shaft 82a on the output shaft 82b side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the input shaft 82a. Yes. The second target 11E is attached to the end of the output shaft 82b on the input shaft 82a side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the output shaft 82b.

  The fifth rotation angle sensor 12E and the sixth rotation angle sensor 13E are provided at a fixed portion where neither the input shaft 82a nor the output shaft 82b rotates synchronously.

Fifth rotation angle sensor 12E is a 1sin outputs a signal sin [theta _IS and the 1cos signal cos [theta] _IS in accordance with the rotation angle of the first target 10E.

Sixth rotational angle sensor 13E outputs a first 2sin signal sin [theta _os and the 2cos signal cos [theta] _os in accordance with the rotation angle of the second target 11E.

  Here, a structural example of the fifth rotational angle sensor 12E will be described as a structural example of each rotational angle sensor.

  Specifically, the fifth rotation angle sensor 12E includes a substrate 12Es as shown in FIG. Further, on the front side surface 12Ea of the substrate 12Es, the inductance changes with respect to the first sinusoidal portion 10Eb of the first target 10E to have an electrical angle of 0 °, an electrical angle of 90 °, an electrical angle of 180 °, and an electrical angle of 270 °. The planar coils L1, L2, L3, and L4 are provided respectively at the positions.

  Further, as shown in FIG. 15, the fifth rotation angle sensor 12E includes an ASIC (Application Specific IC) 12Ec and a peripheral circuit 12Ed mounted on the back side surface 12Eb of the substrate 12Es.

  Note that the sixth rotation angle sensor 13E has a substrate code of 13Es, a front side surface of the substrate 13Es of 13Ea, a back side of the substrate 13Es of 13Eb, an ASIC code of 13Ec, and a peripheral circuit code. Is replaced with 13Ed, and the configuration is the same as that of the fifth rotation angle sensor 12E.

  In the fourth modification of the first embodiment, the fifth rotation angle sensor 12E is arranged in the axial direction with respect to the first target 10E so that the planar coils L1 to L4 face the first sine wave-shaped portion 10Eb of the first target 10E. They are placed facing each other. Further, the sixth rotation angle sensor 13E is arranged to face the second target 11E in the axial direction so that the planar coils L1 to L4 face the second sine wave portion 11Eb of the second target 11E. .

The fifth rotation angle sensor 12E applies current to the planar coils L1 to L4 to excite these planar coils, and generates an eddy current in the first target 10E by the magnetic flux generated by this excitation. Then, the peripheral circuit 12Ed detects a voltage change (eddy current loss) when the inductance of the planar coils L1 to L4 decreases due to the generated eddy current. This voltage change is detected as a differential signal of the planar coils L1, L2, L3, and L4 by the peripheral circuit 12Ed. The fifth rotation angle sensor 12E converts a differential signal corresponding to the rotation angle of the first target 10E detected by the peripheral circuit 12Ed into a single-ended signal by the ASIC 12Ec. Then, the first sin signal sin θ _is and the first cos signal cos θ _is which are converted signals are output.

The sixth rotation angle sensor 13E applies current to the planar coils L1 to L4 to excite these planar coils, and generates eddy current in the second target 11E by the magnetic flux generated by this excitation. The peripheral circuit 13Ed detects a voltage change (eddy current loss) when the inductance of the planar coils L1 to L4 decreases due to the generated eddy current. This voltage change is detected as a differential signal of the planar coils L1, L2, L3, and L4 by the peripheral circuit 13Ed. The sixth rotation angle sensor 13E converts a differential signal corresponding to the rotation angle of the second target 11E detected by the peripheral circuit 13Ed into a single-ended signal in the ASIC 13Ec. Then, outputs a first 2sin signal sin [theta _os and the 2cos signal cos [theta] _os a signal after conversion.

The relative angle calculating portion 18, the 1sin signal sin [theta _IS that has been input, the 1cos signal cos [theta] _IS, based on the 2sin signal sin [theta _os, and the 2cos signal cos [theta] _os, first multipole ring magnet 10A and second multipolar ring A relative angle with respect to the magnet 11A (that is, a relative angle between the input shaft 82a and the output shaft 82b) Δθ _io is calculated. The relative angle calculation unit 18 outputs the calculated relative angle Δθ _io to the torque calculation unit 19.

The torque calculator 19 calculates the steering torque T based on the relative angle Δθ _io input from the relative angle calculator 18. When the relative angle Δθ _io between the two axes connected by the torsion bar 82c is obtained, the torque is calculated by a well-known calculation method using the cross-sectional secondary pole moment, the transverse elastic modulus, the length, the diameter, etc. of the torsion bar 82c. be able to.

  As shown in FIG. 13, in the fourth modification of the first embodiment, the fifth rotation angle sensor 12E includes a plurality of inductance elements (planar coils L1 to L4) included in the fifth rotation angle sensor 12E. The first target 10E is arranged to face one end face in the axial direction so as to face 10Eb. Further, the sixth rotation angle sensor 13E is arranged in the axial direction of the second target 11E so that the plurality of inductance elements (planar coils L1 to L4) of the sixth rotation angle sensor 13E are opposed to the second sine wave portion 11Eb. It arrange | positions facing one end surface. For this reason, for example, when the arrangement space in the radial direction cannot be taken with respect to the target, the rotation angle sensor can be arranged in the axially opposed manner.

  In the above-described example, the first sine wave-like portion 10Eb and the second sine wave-like portion 11Eb are formed at the outer diameter side end portions of the first annular conductor 10Ea and the second annular conductor 11Ea. Not exclusively. For example, an annular conductor pattern whose radial width varies sinusoidally along the circumferential direction is attached to one axial end surface of a cylindrical body (not limited to a conductor) that rotates synchronously with the input shaft 82a or the output shaft 82b. It is good also as other structures, such as providing.

<Modification 5 of torque sensor>
FIG. 17 is a perspective view schematically illustrating Modification Example 5 of the torque sensor including the relative angle detection device according to the first embodiment. FIG. 18 is a plan view of the seventh rotation angle sensor of the relative angle detection device according to the fifth modification of the first embodiment when viewed in the direction indicated by the arrow G in FIG. FIG. 19 is a plan view of the seventh rotation angle sensor of the relative angle detection device according to the fifth modification of the first embodiment when viewed in the direction indicated by the arrow H in FIG. 17. FIG. 20 is a diagram illustrating an example of a torque sensor according to the fifth modification of the first embodiment.

  A modification 5 of the torque sensor 94F according to the first embodiment shown in FIGS. 17 to 20 includes a sensor unit 100F that uses an eddy current to detect the rotation angle.

  The torque sensor 94F according to the fifth modification of the first embodiment includes a relative angle detection device 3F and a torque calculation unit 19, as shown in FIG. The relative angle detection device 3F includes a sensor unit 100F and a relative angle calculation unit 18.

  The sensor unit 100F includes a third target 10F and a fourth target 11F, a seventh rotation angle sensor 12F that detects the rotation angle of the third target 10F, and an eighth rotation angle sensor 13F that detects the rotation angle of the fourth target 11F. With.

  The third target 10F has a cylindrical first cylindrical body 10Fa and is formed in an annular shape along the circumferential direction on the outer peripheral portion of the first cylindrical body 10Fa, and two sine waves are aligned symmetrically in the vertical direction in plan view. And a third sinusoidal portion 10Fb having a shape. That is, the third sinusoidal portion 10Fb has a shape in which the axial width changes in a sinusoidal shape.

  The fourth target 11F includes a cylindrical second cylindrical body 11Fa, and two sine wave shapes formed in an annular shape along the circumferential direction on the outer peripheral portion of the second cylindrical body 11Fa so that they are symmetrical with each other in a plan view. And a fourth sinusoidal portion 11Fb having a shape. That is, the fourth sinusoidal portion 11Fb has a shape in which the axial width changes to a sinusoidal shape.

  The 3rd sine wave-like part 10Fb and the 4th sine wave-like part 11Fb can be comprised from conductors, such as metals, such as aluminum, steel, copper, or a plastic material containing a metal, for example.

  In the fifth modification of the first embodiment, the third target 10F is attached to the end of the input shaft 82a on the output shaft 82b side (ideally the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the input shaft 82a. . The fourth target 11F is attached to the end of the output shaft 82b on the input shaft 82a side (ideally, the connection position of the torsion bar 82c) so as to be able to rotate synchronously with the output shaft 82b.

  The seventh rotation angle sensor 12F and the eighth rotation angle sensor 13F are provided at a fixed portion where neither the input shaft 82a nor the output shaft 82b rotates synchronously.

Seventh rotational angle sensor 12F is a 1sin outputs a signal sin [theta _IS and the 1cos signal cos [theta] _IS in accordance with the rotation angle of the third target 10F.

Eighth rotary angle sensor 13F outputs a first 2sin signal sin [theta _os and the 2cos signal cos [theta] _os in accordance with the rotation angle of the fourth target 11F.

  Here, a structural example of the seventh rotational angle sensor 12F will be described as a structural example of each rotational angle sensor.

  Specifically, in the seventh rotation angle sensor 12F, as shown in FIG. 17, the surface facing the outer peripheral surface of the third target 10F has a curved shape along the outer peripheral surface. And the 7th rotation angle sensor 12F is provided with the planar coils L1, L2, L3, and L4 provided on the curved surface 12Fa, as shown in FIG. That is, in the fifth modification of the first embodiment, as shown in FIG. 17, the seventh rotation angle sensor 12F is configured such that the planar coils L1 to L4 leave a predetermined gap in the third sine wave portion 10Fb of the third target 10F. It arrange | positions so that it may oppose to the 3rd target 10F in the radial direction so that it may oppose.

  Here, the planar coils L1 to L4 provided on the curved surface 12Fa change in inductance with respect to the third sinusoidal portion 10Fb of the third target 10F with an electrical angle of 0 °, an electrical angle of 90 °, an electrical angle of 180 °, They are arranged in a positional relationship that provides an electrical angle of 270 °.

  As shown in FIG. 19, the seventh rotation angle sensor 12F includes a substrate 12Fs inside as viewed from the surface 12Fb opposite to the curved surface 12Fa, and is mounted on the surface of the substrate 12Fs on the curved surface 12Fa side. In addition, an ASIC 12Fc and a peripheral circuit 12Fd are provided.

  Note that the configuration of the eighth rotation angle sensor 13F is the same as that of the seventh rotation angle sensor 12F, and a description thereof will be omitted here.

  The seventh rotation angle sensor 12F applies current to the planar coils L1 to L4 to excite these planar coils, and generates eddy current in the third target 10F by the magnetic flux generated by this excitation. Then, an eddy current loss is generated by the generated eddy current, and the inductances of the planar coils L1 to L4 are reduced. The voltage change at that time is detected in the peripheral circuit 12Fd. This voltage change is detected as a differential signal of the planar coils L1, L2, L3, and L4.

That is, the seventh rotation angle sensor 12F detects a differential signal corresponding to the rotation angle of the third target 10F by the peripheral circuit 12Fd, and converts the detected differential signal into a single-ended signal by the ASIC 12Fc. Then, the first sin signal sin θ _is and the first cos signal cos θ _is which are converted signals are output.

  The eighth rotation angle sensor 13F applies current to the planar coils L1 to L4 to excite these planar coils, and generates eddy current in the fourth target 11F by the magnetic flux generated by this excitation. Then, an eddy current loss is generated by the generated eddy current, and the inductances of the planar coils L1 to L4 are reduced. The voltage change at that time is detected by the peripheral circuit 13Fd. This voltage change is detected as a differential signal of the planar coils L1, L2, L3, and L4.

That is, the eighth rotation angle sensor 13F detects a differential signal corresponding to the rotation angle of the fourth target 11F by the peripheral circuit 13Fd, and converts the detected differential signal into a single-ended signal by the ASIC 13Fc. Then, outputs a first 2sin signal sin [theta _os and the 2cos signal cos [theta] _os a signal after conversion.

The relative angle calculating portion 18, the 1sin signal sin [theta _IS that has been input, the 1cos signal cos [theta] _IS, based on the 2sin signal sin [theta _os, and the 2cos signal cos [theta] _os, first multipole ring magnet 10A and second multipolar ring A relative angle with respect to the magnet 11A (that is, a relative angle between the input shaft 82a and the output shaft 82b) Δθ _io is calculated. The relative angle calculation unit 18 outputs the calculated relative angle Δθ _io to the torque calculation unit 19.

The torque calculator 19 calculates the steering torque T based on the relative angle Δθ _io input from the relative angle calculator 18. When the relative angle Δθ _io between the two axes connected by the torsion bar 82c is obtained, the torque is calculated by a well-known calculation method using the cross-sectional secondary pole moment, the transverse elastic modulus, the length, the diameter, etc. of the torsion bar 82c. be able to.

  As shown in FIG. 17, in the fifth modification of the first embodiment, the seventh rotation angle sensor 12F includes a plurality of inductance elements (planar coils L1 to L4) included in the seventh rotation angle sensor 12F. It is arranged to face the outer peripheral surface of the third target 10F so as to face 10Fb. In addition, the eighth rotation angle sensor 13F is arranged on the outer peripheral surface of the fourth target 11F so that the plurality of inductance elements (planar coils L1 to L4) of the eighth rotation angle sensor 13F are opposed to the fourth sine wave portion 11Fb. Opposed to each other. For this reason, for example, when the arrangement space in the axial direction cannot be taken with respect to the target, the rotation angle sensor can be arranged in the radial direction.

  In the example described above, the third sine wave-like portion 10Fb and the fourth sine wave-like portion 11Fb are provided on the outer peripheral surfaces of the first cylindrical body 10Fa and the second cylindrical body 11Fa. However, the configuration is not limited thereto. For example, the third sine wave portion 10Fb and the fourth sine wave portion 11Fb may be provided on the inner peripheral surfaces of the first cylinder body 10Fa and the second cylinder body 11Fa. In this case, the seventh rotation angle sensor 12F and the eighth rotation angle sensor 13F are provided inside the first second cylinder 10Fa and the second cylinder 11Fa.

<Functional block of torque sensor>
FIG. 21 is a schematic diagram illustrating functional blocks of the torque sensor according to the first embodiment. In the following description, each component described above will be referred to as follows. That is, each torque sensor 94A, 94B, 94C, 94D, 94E, 94F is referred to as a torque sensor 94, each sensor unit 100A, 100B, 100C, 100D, 100E, 100F is referred to as a sensor unit 100, and each relative angle detection device 3A. , 3C, 3D, 3E, 3F are referred to as the relative angle detection device 3, and the first multipole ring magnet 10A, the third multipole ring magnet 10B, the first rotor 10C, the first code wheel 10D, the first target 10E, and The third target 10F is referred to as the first rotating body 10, and the second multipole ring magnet 11A, the fourth multipole ring magnet 11B, the second rotor 11C, the second code wheel 11D, the second target 11E, and the fourth target 11F. Is referred to as the second rotating body 11, and the first rotation angle sensors 12A and 12B, the first stator 12C, and the third rotation angle sensor. 2D, 5th rotation angle sensor 12E, and 7th rotation angle sensor 12F are called the 1st rotation angle detection part 12, 2nd rotation angle sensor 13A, 13B, 2nd stator 13C, 4th rotation angle sensor 13D, 6th The rotation angle sensor 13E and the eighth rotation angle sensor 13F are referred to as a second rotation angle detection unit 13.

  The first rotating body 10 and the first rotation angle detecting unit 12 are not limited to the above-described configuration examples, and may detect the rotation angle of the first rotating body 10 and output a sin signal and a cos signal. Any configuration is possible as long as it is configured.

  Moreover, the 2nd rotary body 11 and the 2nd rotation angle detection part 13 are not restricted to each example of a structure mentioned above, The rotation angle of the 2nd rotary body 11 is detected, and a sin signal and a cosine signal are output. Any configuration is possible as long as it is configured.

The relative angle calculation unit 18 receives signals (first sin signal sin θ _is , first cos signal cos θ _is ) input from the first rotation angle detection unit 12 of the sensor unit 100 and signals input from the second rotation angle detection unit 13 ( Based on the second sin signal sinθ _os and the second cos signal cosθ _os ), the relative angle of the output shaft 82b with respect to the input shaft 82a (the relative angle of the second rotator 11 with respect to the first rotator 10) is calculated, and the calculation result is the relative angle. It outputs to the torque calculation part 19 as (DELTA) (theta) _io . Specifically, as shown in FIG. 21, the relative angle calculation unit 18 includes a first angle calculation unit 181, a second angle calculation unit 182, and a torsion angle calculation unit 183.

  The first rotation angle detector 12 and the first angle calculator 181 constitute the first angle detector 1.

  The second rotation angle detection unit 13 and the second angle calculation unit 182 constitute the second angle detection device 2.

  The 1st angle detection apparatus 1, the 2nd angle detection apparatus 2, and the twist angle calculating part 183 comprise the relative angle detection apparatus 3 which concerns on this embodiment.

The first angle calculation unit 181 includes a first normalization processing unit 1811, a first sensor phase correction unit 1812, a first rotation angle calculation unit 1814, and a first storage unit 1815. The first storage unit 1815 stores parameters and calculation formulas used in the first angle calculation unit 181. The parameter or an arithmetic expression used in the first angle calculation unit 181, includes information used for correction of the 1sin signal sin [theta _IS and the 1cos signal cos [theta] _IS which is the output of the first rotation angle detection section 12. Hereinafter, information used to correct the first sin signal sin θ _is and the first cos signal cos θ _is , which are outputs of the first rotation angle detection unit 12, is referred to as “first sensor correction information”. As the first sensor correction information, the output of the first rotation angle detecting unit 12 approaches the value of the sin signal or the value of the cos signal based on the ideal value of the rotation angle of the first rotating body 10 assumed in advance. It is assumed that various parameters and arithmetic expressions are set.

The first angle calculator 181 receives the first sin signal sin θ _is and the first cos signal cos θ _is output from the first rotation angle detector 12.

The first normalization processing unit 1811 normalizes the first sin signal sin θ _is and the first cos signal cos θ _is output from the first rotation angle detection unit 12, and outputs them to the first sensor phase correction unit 1812.

  The first sensor phase correction unit 1812 corrects the phase of the output of the first normalization processing unit 1811 and outputs it to the first rotation angle calculation unit 1814.

The first rotation angle calculation unit 1814 calculates the input shaft rotation angle θ _is (rad) that _is the rotation angle of the input shaft 82 a based on the output of the first sensor phase correction unit 1812.

The second angle calculation unit 182 includes a second normalization processing unit 1821, a second sensor phase correction unit 1822, a second rotation angle calculation unit 1824, and a second storage unit 1825. The second storage unit 1825 stores parameters and calculation formulas used in the second angle calculation unit 182. The parameter or an arithmetic expression used in the second angle calculation unit 182, includes information used for correction of the 2sin signal sin [theta _os and the 2cos signal cos [theta] _os is the output of the second rotation angle detection section 13. Hereinafter, the information used for correction of the 2sin signal sin [theta _os and the 2cos signal cos [theta] _os is the output of the second rotation angle detection section 13, it referred to as "second sensor correction information". As the second sensor correction information, the output of the second rotation angle detection unit 13 approaches the value of the sin signal or the value of the cos signal based on the ideal value of the rotation angle of the second rotating body 11 assumed in advance. It is assumed that various parameters and arithmetic expressions are set.

The second angle calculator 182 receives the second sin signal sin θ _os and the second cos signal cos θ _os output from the second rotation angle detector 13.

The second normalization processing unit 1821 normalizes the second sin signal sin θ _os and the second cos signal cos θ _os output from the second rotation angle detection unit 13 and outputs the result to the second sensor phase correction unit 1822.

  The second sensor phase correction unit 1822 corrects the phase of the output of the second normalization processing unit 1821 and outputs it to the second rotation angle calculation unit 1824.

The second rotation angle calculation unit 1824 calculates the output shaft rotation angle θ _os (rad), which is the rotation angle of the output shaft 82b, based on the output of the second sensor phase correction unit 1822.

The twist angle calculation unit 183 includes a third storage unit 1831. The third storage unit 1831 stores parameters and arithmetic expressions used in the torsion angle calculation unit 183. The parameters and calculation formulas used in the twist angle calculation unit 183 include information used for correcting the difference between the input shaft rotation angle θ _is and the output shaft rotation angle θ _os . Hereinafter, information used for correcting the difference between the input shaft rotation angle θ _is and the output shaft rotation angle θ _os is referred to as “rotary body phase correction information”.

The torsion angle calculation unit 183 receives the input shaft rotation angle θ _is output from the first angle calculation unit 181 and the output shaft rotation angle θ _os output from the second angle calculation unit 182. The torsion angle calculation unit 183 outputs the difference between the input shaft rotation angle θ _is and the output shaft rotation angle θ _{os to} the torque calculation unit 19 as a relative angle Δθ _io .

The torque calculator 19 calculates the steering torque T based on the relative angle Δθ _io input from the relative angle calculator 18. For example, the torque calculation unit 19 stores the relationship between the relative angle Δθ _io and the steering torque T determined by the characteristics of the torsion bar 82c. The torque calculator 19 calculates the steering torque T based on the relative angle Δθ _io input from the relative angle calculator 18 and the relationship between the stored relative angle Δθ _io and the steering torque T, and outputs the calculated steering torque T to the ECU 90. To do.

  Next, each component of the first angle calculator 181 and the second angle calculator 182 according to the first embodiment will be described.

  First, the first normalization processing unit 1811 and the second normalization processing unit 1821 according to the first embodiment will be described.

FIG. 22 is a diagram illustrating an example of control blocks of the first normalization processing unit and the second normalization processing unit according to the first embodiment. FIG. 23 is a diagram illustrating an example of the normalization operation in the first normalization processing unit and the second normalization processing unit illustrated in FIG. 22. In the example shown in FIG. 22, the first normalization processing unit 1811 includes an offset voltage correction unit 1811a, and the second normalization processing unit 1821 includes an offset voltage correction unit 1821a. In the following description, the inputs of the offset voltage correction units 1811a and 1821a are sin θ _i and cos θ _i , and the outputs are sin θ _o and cos θ _o . In the example shown in FIG. 23, the input sin θ _i (cos θ _i ) of the offset voltage correction units 1811a and 1821a is indicated by a broken line, and the output sin θ _o (cos θ _o ) of the offset voltage correction units 1811a and 1821a is indicated by a solid line. .

  In the example illustrated in FIGS. 22 and 23, it is assumed that an offset voltage is superimposed on the outputs of the first rotation angle detection unit 12 and the second rotation angle detection unit 13 included in the sensor unit 100.

  The offset voltage correction units 1811a and 1821a illustrated in FIG. 22 have an average value Vsinave (Vcosave) of sin signals (cos signals) that are outputs of the sensor unit 100 (the first rotation angle detection unit 12 and the second rotation angle detection unit 13) in advance. ) Is set as first sensor correction information (second sensor correction information) and stored in the first storage unit 1815 (second storage unit 1825). The average value Vsinave in the first rotation angle detection unit 12 may be, for example, an average value of sin signals for a predetermined period by the electrical angle of the first rotating body 10, or a sin signal for an arbitrary period. May be an average value. In addition, the average value Vcosave in the first rotation angle detection unit 12 may be, for example, an average value of a cosine signal for a predetermined period by the electrical angle of the first rotating body 10, or a cosine signal for an arbitrary period. May be an average value. In addition, the average value Vsinave in the second rotation angle detection unit 13 may be, for example, an average value of sin signals for a predetermined period by the electrical angle of the second rotating body 11, or a sin signal for an arbitrary period. May be an average value. In addition, the average value Vcosave in the second rotation angle detection unit 13 may be, for example, an average value of a cosine signal for a predetermined period by the electrical angle of the second rotating body 11, or a cosine signal for an arbitrary period. May be an average value. The average value Vsinave (Vcosave) of these sin signals (cos signals) is, for example, a value measured at the time of shipping inspection of the first angle detection device 1, the second angle detection device 2, the relative angle detection device 3, or the torque sensor 94. It may be.

In the example illustrated in FIG. 22, the offset voltage correction units 1811 a and 1821 a normalize the offset voltage of the input sin θ _i using the average value V sinave of the sin signal that is the output of the first rotation angle detection unit 12. Specifically, V sinave is subtracted from input sin θ _i , that is, output sin θ _o is calculated by the following equation (1).

In the offset voltage correction units 1811a and 1821a shown in FIG. 22, the above equation (1) is stored and set in the first storage unit 1815 and the second storage unit 1825 as the first sensor correction information and the second sensor correction information in advance. . The offset voltage correction units 1811a and 1821a normalize the offset voltage of the input sin θ _i using the above equation (1), thereby outputting an output sin θ _o shown by a solid line in FIG.

In the example illustrated in FIG. 22, the offset voltage correction units 1811 a and 1821 a normalize the offset voltage of the input cos θ _i using the average value V cosave of the cos signal that is the output of the second rotation angle detection unit 13. Specifically, the input cos [theta] _i, subtracts the Vcosave, i.e. calculates the output cos [theta] _o by the following equation (2).

In the offset voltage correction units 1811a and 1821a shown in FIG. 22, the above equation (2) is stored and set in advance in the first storage unit 1815 and the second storage unit 1825 as the first sensor correction information and the second sensor correction information. . Offset voltage correction unit 1811a, 1821a, by normalizing the offset voltage of the input cos [theta] _i with reference to the above formula (2), and outputs an output cos [theta] _o indicated by a solid line in FIG. 23.

FIG. 24 is a diagram illustrating an example different from FIG. 22 of the control blocks of the first normalization processing unit and the second normalization processing unit according to the first embodiment. FIG. 25 is a diagram illustrating an example of a normalization operation in the first normalization processing unit and the second normalization processing unit illustrated in FIG. 24. In the example illustrated in FIG. 24, the first normalization processing unit 1811 includes an amplitude correction unit 1811b, and the second normalization processing unit 1821 includes an amplitude correction unit 1821b. In the following description, the inputs of the amplitude correction units 1811b and 1821b are sin θ _i and cos θ _i , and the outputs are sin θ _o and cos θ _o . In the example shown in FIG. 25, the input sin θ _i (cos θ _i ) of the amplitude correction units 1811b and 1821b is indicated by a broken line, and the output sin θ _o (cos θ _o ) of the amplitude correction units 1811b and 1821b is indicated by a solid line.

  In the example illustrated in FIGS. 24 and 25, it is assumed that the output of the first rotation angle detection unit 12 and the second rotation angle detection unit 13 included in the sensor unit 100 has variation in output amplitude.

  The amplitude correction units 1811b and 1821b shown in FIG. 24 have a maximum value Vsinmax (Vcosmax) of a sin signal (cos signal) that is output from the sensor unit 100 (the first rotation angle detection unit 12 and the second rotation angle detection unit 13) in advance. And the minimum value Vsinmin (Vcosmin) are set as first sensor correction information (second sensor correction information) and stored in the first storage unit 1815 (second storage unit 1825). Note that the maximum value Vsinmax of the sin signal in the first rotation angle detection unit 12 may be, for example, an average value of the maximum values of the sin signal in each period of a predetermined period with the electrical angle of the first rotating body 10. The maximum value of the sin signal of any one cycle may be used. Further, the minimum value Vsinmin of the sin signal in the first rotation angle detection unit 12 may be, for example, an average value of the minimum values of the sin signal in each period of a predetermined period with the electrical angle of the first rotating body 10. The minimum value of the sin signal of any one cycle may be used. Further, the maximum value Vcosmax of the cos signal in the first rotation angle detection unit 12 may be, for example, an average value of the maximum value of the cos signal in each period of a predetermined period by the electrical angle of the first rotating body 10. The maximum value of the cosine signal in any one cycle may be used. In addition, the minimum value Vsinmin of the cos signal in the first rotation angle detection unit 12 may be, for example, an average value of the minimum values of the cos signal in each period of a predetermined period with the electrical angle of the first rotating body 10. The minimum value of the cosine signal in any one cycle may be used. Further, the maximum value Vsinmax of the sin signal in the second rotation angle detection unit 13 may be, for example, an average value of the maximum values of the sin signal in each period corresponding to a predetermined period by the electrical angle of the second rotating body 11. The maximum value of the sin signal of any one cycle may be used. In addition, the minimum value Vsinmin of the sin signal in the second rotation angle detection unit 13 may be, for example, an average value of the minimum values of the sin signal in each period of a predetermined period by the electrical angle of the second rotating body 11. The minimum value of the sin signal of any one cycle may be used. In addition, the maximum value Vcosmax of the cos signal in the second rotation angle detection unit 13 may be, for example, an average value of the maximum value of the cos signal in each period of a predetermined period by the electrical angle of the second rotating body 11. The maximum value of the cosine signal in any one cycle may be used. Further, the minimum value Vsinmin of the cos signal in the second rotation angle detection unit 13 may be, for example, an average value of the minimum values of the cos signal in each period of a predetermined period by the electrical angle of the second rotating body 11. The minimum value of the cosine signal in any one cycle may be used. The maximum value Vsinmax (Vcosmax) and the minimum value Vsinmin (Vcosmin) of these sin signals (cos signals) are, for example, the first angle detection device 1, the second angle detection device 2, the relative angle detection device 3, or the torque sensor 94. It may be a value measured at the time of shipping inspection.

In the example illustrated in FIG. 24, the amplitude correction units 1811b and 1821b normalize the amplitude of the input sin θ _i using the maximum value Vsinmax and the minimum value Vsinmin of the sin signal. Specifically, the input sin θ _i is divided by a value obtained by dividing the absolute value of the value obtained by subtracting V sin min from V sin max by 2, that is, the output sin θ _o is calculated by the following equation (3).

In the amplitude correction units 1811b and 1821b shown in FIG. 24, the above equation (3) is stored and set in advance in the first storage unit 1815 and the second storage unit 1825 as the first sensor correction information and the second sensor correction information. The amplitude correction units 1811b and 1821b use the above equation (3) to normalize the amplitude of the input sin θ _i , thereby outputting an output sin θ _o in which the amplitude indicated by the solid line in FIG. 25 is normalized.

In the example illustrated in FIG. 24, the amplitude correction units 1811b and 1821b normalize the amplitude of the input cos θ _i using the maximum value Vcosmax and the minimum value Vcosmin of the cos signal. Specifically, the output cos θ _o is calculated by dividing the input cos θ _i by the value obtained by dividing the absolute value obtained by subtracting V cos min from V cos max by 2, that is, the following equation (4).

In the amplitude correction units 1811b and 1821b shown in FIG. 24, the above equation (4) is stored and set in advance in the first storage unit 1815 and the second storage unit 1825 as the first sensor correction information and the second sensor correction information. Amplitude correction section 1811b, 1821b, by normalizing the amplitude of the input cos [theta] _i with reference to the above formula (4), and outputs an output cos [theta] _o that the amplitude indicated by the solid line in FIG. 25 is normalized.

  In the above-described example, for convenience of explanation, the offset voltage correction units 1811a and 1821a and the amplitude correction units 1811b and 1821b included in the first normalization processing unit 1811 and the second normalization processing unit 1821 are individually described. However, it is preferable that the first normalization processing unit 1811 and the second normalization processing unit 1821 include both offset voltage correction units 1811a and 1821a and amplitude correction units 1811b and 1821b.

Next, the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 according to the first embodiment will be described. In the following description, the inputs of the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 are sin θ _i and cos θ _i , and the outputs are sin θ _o and cos θ _o .

  FIG. 26 is a diagram illustrating an example of correction targets in the first sensor phase correction unit and the second sensor phase correction unit according to the first embodiment. In the example shown in FIG. 26, the example in the structure demonstrated using FIGS. 3-7 is shown.

As described above, the first cos sensor 15A (second cos sensor 17A) has an electrical angle of the first multipole ring magnet 10A (second multipole ring magnet 11A) with respect to the first sin sensor 14A (second sin sensor 16A). The first sin sensor 14A has a phase difference of 90 °, and the output phases of the first sin sensor 14A (second sin sensor 16A) and the first cos sensor 15A (second cos sensor 17A) are equal to each other. It is assumed that an error (hereinafter referred to as “sensor phase error”) θ _ic is included between the output phase of (second sin sensor 16A) and the output phase of first cos sensor 15A (second cos sensor 17A). . In the example shown in FIG. 26 and the following FIGS. 27 and 28, the output phase of the first cos sensor 15A (second cos sensor 17A) is corrected based on the first sin sensor 14A (second sin sensor 16A). .

FIG. 27 is a diagram illustrating an example of control blocks of the first sensor phase correction unit and the second sensor phase correction unit according to the first embodiment. FIG. 28 is a diagram illustrating an example of the phase correction operation in the first sensor phase correction unit and the second sensor phase correction unit illustrated in FIG. 27. In the example illustrated in FIG. 28, the input cos θ _i of the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 is indicated by a broken line, and the output sin θ _{o of} the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 is illustrated. (= Sin θ _i ) and cos θ _o are indicated by solid lines.

In the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 shown in FIG. 27, the sensor phase error θ _ic in the first rotation angle detection unit 12 (second rotation angle detection unit 13) is the first sensor correction information. It is set as (second sensor correction information) and stored in the first storage unit 1815 (second storage unit 1825). The sensor phase error θ _ic may be, for example, a value measured at the time of shipping inspection of the first angle detection device 1, the second angle detection device 2, the relative angle detection device 3, or the torque sensor 94.

In the example shown in FIG. 27, the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822, using the sensor phase error theta _ics, it corrects the phase of the input cos [theta] _i of the input sin [theta _i as a reference. On the other hand, the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 do not correct the reference input sin θ _i . That is, the output sin θ _o in the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 can be expressed by the following equation (5).

On the other hand, the output cos θ _o is expressed by the following equation (6).

The first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 calculate the output cos θ _o by the above equation (6). Hereinafter, the above formula (6) is also referred to as “first phase correction calculation formula”.

In the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 shown in FIG. 27, the above equation (6), that is, the first phase correction calculation formula is first set as the first sensor correction information and the second sensor correction information. It is stored and set in the first storage unit 1815 and the second storage unit 1825. The first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 correct the phase of the input cos θ _i using the above equation (6), that is, the first phase correction calculation formula, so that the solid line in FIG. The output cos θ _o shown in FIG.

  FIG. 29 is a diagram illustrating an example different from FIG. 26 of the correction target in the first sensor phase correction unit and the second sensor phase correction unit according to the first embodiment. In the example shown in FIG. 29, the example in the structure demonstrated using FIGS. 3-7 is shown.

  In the example shown in FIGS. 26 to 28, the example in which the output phase of the first cos sensor 15A (second cos sensor 17A) is corrected with reference to the first sin sensor 14A (second sin sensor 16A) is shown. 30 and FIG. 31 show an example in which the output phase of the first sin sensor 14A (second sin sensor 16A) is corrected using the first cos sensor 15A (second cos sensor 17A) as a reference.

FIG. 30 is a diagram illustrating an example of a control block different from FIG. 27 of the first sensor phase correction unit and the second sensor phase correction unit according to the first embodiment. FIG. 31 is a diagram illustrating an example of the phase correction operation in the first sensor phase correction unit and the second sensor phase correction unit illustrated in FIG. 30. In the example shown in FIG. 31, the input sin θ _i of the first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a is indicated by a broken line, and the output cos θ _{o of} the first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a. (= Cos θ _i ) and sin θ _o are indicated by solid lines.

In the first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a shown in FIG. 30, the sensor phase error θ _ic in the first rotation angle detection unit 12 (second rotation angle detection unit 13) is the first sensor correction information. It is set as (second sensor correction information) and stored in the first storage unit 1815 (second storage unit 1825). The sensor phase error θ _ic may be, for example, a value measured at the time of shipping inspection of the first angle detection device 1, the second angle detection device 2, the relative angle detection device 3, or the torque sensor 94.

In the example shown in FIG. 30, the first sensor phase correction unit 1812a and the second sensor phase correcting unit 1822a, using the sensor phase error theta _ics, corrects the phase of the input sin [theta _i input cos [theta] _i as a reference. On the other hand, the first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a do not correct the reference input cos θ _i . That is, the output cos θ _o in the first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a can be expressed by the following equation (7).

On the other hand, the output sin θ _o is expressed by the following equation (8).

The first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a calculate the output sin θ _o by the above equation (10). Hereinafter, the above equation (8) is also referred to as a “second phase correction arithmetic expression”.

In the first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a shown in FIG. 30, the above formula (8), that is, the second phase correction calculation formula is set in advance as the first sensor correction information and the second sensor correction information. It is stored and set in the first storage unit 1815 and the second storage unit 1825. The first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a correct the phase of the input sin θ _i using the above equation (8), that is, the second phase correction calculation formula, so that the solid line in FIG. The output sin θ _o shown in FIG.

  Next, the first rotation angle calculation unit 1814 and the second rotation angle calculation unit 1824 according to the embodiment will be described. In the following description, the inputs of the first rotation angle calculation unit 1814 and the second rotation angle calculation unit 1824 are sin θ and cos θ, and the output is the rotation angle θ (rad).

  FIG. 32 is a diagram illustrating an example of control blocks of the first rotation angle calculation unit and the second rotation angle calculation unit according to the first embodiment.

  The first rotation angle calculation unit 1814 and the second rotation angle calculation unit 1824 illustrated in FIG. 32 calculate the rotation angle θ (rad) by an arctangent function of a value obtained by dividing sin θ by cos θ, that is, the following equation (9).

  In the first rotation angle calculation unit 1814 and the second rotation angle calculation unit 1824 shown in FIG. 32, the above equation (9) is stored and set in the first storage unit 1815 and the second storage unit 1825. The first rotation angle calculation unit 1814 and the second rotation angle calculation unit 1824 calculate and output the rotation angle θ (rad) using the above equation (9).

  Next, the torsion angle calculation unit 183 according to the first embodiment will be described.

  FIG. 33 is a diagram illustrating an example of a control block of the twist angle calculation unit according to the first embodiment.

As described above, the torsion angle calculation unit 183 shown in FIG. 33 includes the input shaft rotation angle θ _is output from the first angle calculation unit 181 and the output shaft rotation angle θ output from the second angle calculation unit 182. _os is input. The torsion angle calculation unit 183 calculates the relative angle Δθ _io by the difference between the input shaft rotation angle θ _is and the output shaft rotation angle θ _os , that is, the following equation (10).

In the twist angle calculation unit 183 shown in FIG. 33, the above equation (10) is stored and set in the third storage unit 1831. The torsion angle calculation unit 183 calculates and outputs a relative angle Δθ _io that is a difference between the input shaft rotation angle θ _is and the output shaft rotation angle θ _os using the above equation (10).

  FIG. 34 is a schematic diagram illustrating functional blocks of a torque sensor according to a modification of the first embodiment. A torque sensor 94a shown in FIG. 34 includes a relative angle detection device 3a instead of the relative angle detection device 3 shown in FIG. The relative angle detection device 3a includes a relative angle calculation unit 18a instead of the relative angle calculation unit 18 shown in FIG. The relative angle calculator 18a is replaced with a first angle calculator 181a, a second angle calculator 182a, a twist angle instead of the first angle calculator 181, the second angle calculator 182 and the twist angle calculator 183 shown in FIG. A calculation unit 183a is provided.

  The 1st rotation angle detection part 12 and the 1st angle calculation part 181a comprise the 1st angle detection apparatus 1a.

  The second rotation angle detection unit 13 and the second angle calculation unit 182a constitute a second angle detection device 2a.

  The first angle detection device 1a, the second angle detection device 2a, and the torsion angle calculation unit 183a constitute a relative angle detection device 3a according to a modification of the first embodiment.

Unlike the configuration illustrated in FIG. 21, the first angle calculation unit 181 a is configured without the first rotation angle calculation unit 1814. That is, the first angle calculation unit 181a according to the modification of the first embodiment twists the first sin signal sin θ _is and the first cos signal cos θ _is corrected by the first normalization processing unit 1811 and the first sensor phase correction unit 1812. It outputs to the angle | corner calculating part 183a.

Unlike the configuration illustrated in FIG. 21, the second angle calculation unit 182 a is configured without the second rotation angle calculation unit 1824. That is, the second angle calculation unit 182a according to the modification of the first embodiment twists the second sin signal sin θ _os and the second cos signal cos θ _os corrected by the second normalization processing unit 1821 and the second sensor phase correction unit 1822. It outputs to the angle | corner calculating part 183a.

The first sin signal sin θ _is and the first cos signal cos θ _is corrected by the first angle calculation unit 181a are input to the twist angle calculation unit 183a. Further, the second sin signal sin θ _os and the second cos signal cos θ _os corrected by the second angle calculation unit 182a are input to the torsion angle calculation unit 183a.

Twist angle calculating section 183a includes a first 1sin signal sin [theta _IS, obtains a relative angle [Delta] [theta] _io under section 1cos signal cos [theta] _IS, first 2sin signal sin [theta _os, and the 2cos signal cos [theta] _os, and outputs the torque calculating unit 19.

  Next, a twist angle calculation unit 183a according to a modification of the first embodiment will be described.

  FIG. 35 is a diagram illustrating an example of a control block of a twist angle calculation unit according to a modification of the first embodiment.

As described above, the twist angle calculation unit 183a illustrated in FIG. 35 includes the first sin signal sin θ _is and the first cos signal cos θ _is corrected by the first angle calculation unit 181a, and the second angle calculation unit 182a. The second sin signal sin θ _os and the second cos signal cos θ _os are input.

Here, the 1sin signal sin [theta _IS, first 1cos signal cos [theta] _IS, first 2sin signal sin [theta _os, the 2cos signal cos [theta] _os, the rotation angle of the rotation angle (electrical angle) theta first rotating member 10 for _os of the second rotating member 11 The relative angle Δθ _io of the (electrical angle) θ _{is is} expressed by the following relational expressions (11) and (12).

When the first sin signal sin θ _is is sin (θ _os + Δθ), the first cos signal cos θ _is is cos (θ _os + Δθ), and the above equations (11) and (12) are transformed using the addition theorem of a trigonometric function, Equations (13) and (14) are obtained.

  The relative angle Δθ can be obtained by an arctangent function of a value obtained by dividing sin Δθ by cos Δθ, that is, the following equation (15).

The torsion angle calculation unit 183a calculates the relative angle Δθ _io by the following equation (16) obtained by substituting the above equations (11), (12), (13), and (14) for the above equation (15). To do.

In the twist angle calculation unit 183a shown in FIG. 35, the above equation (16) is stored and set in the third storage unit 1831. The torsion angle calculation unit 183a uses the above equation (16) to calculate the relative angle Δθ of the rotation angle (electric angle) θ _is of the first rotation body 10 with respect to the rotation angle (electric angle) θ _os of the second rotation body 11. Calculate _io and output.

  The first angle detection device 1 according to the first embodiment and the first angle detection device 1a according to the modification of the first embodiment include the first sensor phase correction units 1812 and 1812a, so that the first rotation angle detection unit 12 is provided. Can be corrected. In addition, the second angle detection device 2 according to the first embodiment and the second angle detection device 2a according to the modification of the first embodiment include the second sensor phase correction units 1822 and 1822a, thereby detecting the second rotation angle. The output phase of the unit 13 can be corrected.

  As described above, the first angle detection device 1, 1 a (second angle detection device 2, 2 a) according to the first embodiment is the first rotation body 10 (second rotation body 11) that rotates about the rotation axis. ), A first rotation angle detector 12 (second rotation angle detector 13) that detects a rotation angle of the first rotating body 10 (second rotating body 11) and outputs a sin signal and a cos signal, and a first The value of the sin signal output from the first rotation angle detector 12 (second rotation angle detector 13) according to the rotation angle of the rotator 10 (second rotator 11) is the first rotator 10 (second rotation). The first rotation angle detector 12 (second rotation angle detection) is made to approach the value of the reference sin signal of the rotation angle of the body 11) or according to the rotation angle of the first rotation body 10 (second rotation body 11). The value of the cos signal output by the unit 13) is based on the rotation angle of the first rotating body 10 (second rotating body 11). The first storage unit 1815 (second storage unit 1825) and the first storage unit 1815 (second storage unit 1825) that store sensor correction information that is set in advance so as to approach the value of the cos signal are stored. A first angle calculation unit 181 (second angle calculation unit 182) that corrects at least one of the sin signal and the cos signal based on the sensor correction information.

As a result, the first angle detection devices 1 and 1a (second angle detection devices 2 and 2a) have an input shaft rotation angle θ _is (output shaft rotation) that is a rotation angle of the first rotation body 10 (second rotation body 11). The sin signal or cos signal before calculating the angle θ _os ) can be corrected in real time. Further, the input shaft rotation angle θ _is (output shaft rotation angle) of the first rotating body 10 (second rotating body 11) using a value obtained by correcting the sin signal or the cos signal based on preset known sensor correction information. Since θ _os ) is calculated, the detection accuracy of the rotation angle of the first rotating body 10 (second rotating body 11) is improved. Therefore, the first angle detection devices 1 and 1a (second angle detection devices 2 and 2a) according to the present embodiment can detect the rotation angle of the first rotating body 10 (second rotating body 11) with high accuracy. it can.

  In the first angle detection devices 1 and 1a (second angle detection devices 2 and 2a), the average values Vsinave and cos of the sin signal that is the output of the first rotation angle detection unit 12 (second rotation angle detection unit 13). The average value Vcosave of the signal is stored in advance in the first storage unit 1815 (second storage unit 1825) as the first sensor correction information (second sensor correction information). The offset voltage correction units 1811a and 1821a The sin signal is corrected using Vsinave, and the cos signal is corrected using the average value Vcosave of the cos signal. Thereby, the offset voltage of the sin signal and the cos signal can be corrected.

  In the first angle detection devices 1 and 1a (second angle detection devices 2 and 2a), the maximum values Vsinmax and sin of the sin signal that is the output of the first rotation angle detection unit 12 (second rotation angle detection unit 13). The minimum value Vsinmin of the signal, the maximum value Vcosmax of the cos signal, and the minimum value Vcosmin of the cos signal are stored in advance in the first storage unit 1815 (second storage unit 1825) as first sensor correction information (second sensor correction information). The amplitude correction units 1811b and 1821b correct the sin signal using the maximum value Vsinmax and the minimum value Vsinmin of the sin signal, and correct the cos signal using the maximum value Vcosmax and the minimum value Vcosmin of the cos signal. . Thereby, the amplitudes of the sin signal and the cos signal can be normalized.

Further, in the first angle detection devices 1 and 1a (second angle detection devices 2 and 2a), the sensor phase error θ _ic and the first phase correction in the first rotation angle detection unit 12 (second rotation angle detection unit 13). An arithmetic expression is stored in advance as first sensor correction information (second sensor correction information) in the first storage unit 1815 (second storage unit 1825), and the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 are The cos signal is corrected using the sensor phase error θ _ic and the first phase correction calculation formula. Thereby, the output phase of the first cos sensor 15A (second cos sensor 17A) can be corrected with the first sin sensor 14A (second sin sensor 16A) as a reference. Alternatively, the sensor phase error θ _ic and the second phase error correction arithmetic expression in the first rotation angle detection unit 12 (second rotation angle detection unit 13) are first set as first sensor correction information (second sensor correction information) in advance. The first sensor phase correction unit 1812a and the second sensor phase correction unit 1822a are stored in the storage unit 1815 (second storage unit 1825), using the sensor phase error θ _ic and the second phase correction calculation formula, and the sin signal Correct. Accordingly, the output phase of the first sin sensor 14A (second sin sensor 16A) can be corrected with the first cos sensor 15A (second cos sensor 17A) as a reference.

  Thereby, the relative angle detection accuracy in the relative angle detection devices 3 and 3a according to the first embodiment can be improved, and accordingly, the torque sensor 94 including the relative angle detection devices 3 and 3a according to the first embodiment. , 94a can be improved, and the motor control performance of the electric power steering apparatus 80 can be improved. Further, according to the vehicle including the electric power steering device 80, the steering assist control performance can be improved by improving the motor control performance, and the vehicle can be driven with a stable steering force.

(Embodiment 2)
FIG. 36 is a schematic diagram illustrating functional blocks of the torque sensor according to the second embodiment. Note that the configuration of the electric power steering device according to the second embodiment and the vehicle on which the electric power steering device is mounted are the same as those in the first embodiment described above, and thus the description thereof is omitted here. In addition, the same components as those described in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 36, the torque sensor 94b according to the second embodiment includes a relative angle detection device 3b instead of the relative angle detection device 3 of the first embodiment shown in FIG. The relative angle detection device 3b includes a relative angle calculation unit 18b instead of the relative angle calculation unit 18 of the first embodiment illustrated in FIG. The relative angle calculator 18b includes a first angle calculator 181b and a second angle calculator 182b instead of the first angle calculator 181 and the second angle calculator 182 of the first embodiment shown in FIG. The first angle calculation unit 181b replaces the first sensor phase correction unit 1812 and the second sensor phase correction unit 1822 of the first embodiment illustrated in FIG. 21 with a first amplitude variation suppression unit 1813 and a second amplitude variation suppression unit 1823. It has.

  The 1st rotation angle detection part 12 and the 1st angle calculation part 181b comprise the 1st angle detection apparatus 1b.

  The second rotation angle detector 13 and the second angle calculator 182b constitute a second angle detector 2b.

  The first angle detection device 1b, the second angle detection device 2b, and the torsion angle calculation unit 183 constitute a relative angle detection device 3b according to the second embodiment.

  The control block of the twist angle calculation unit 183 according to the second embodiment is the same as that of the first embodiment shown in FIG.

  FIG. 37 is a schematic diagram illustrating functional blocks of a torque sensor according to a modification of the second embodiment. A torque sensor 94c shown in FIG. 37 includes a relative angle detection device 3c instead of the relative angle detection device 3b shown in FIG. The relative angle detection device 3c includes a relative angle calculation unit 18c instead of the relative angle calculation unit 18b shown in FIG. The relative angle calculation unit 18c is replaced with a first angle calculation unit 181c, a second angle calculation unit 182c, a twist angle instead of the first angle calculation unit 181b, the second angle calculation unit 182b, and the twist angle calculation unit 183 shown in FIG. A calculation unit 183a is provided.

  The 1st rotation angle detection part 12 and the 1st angle calculation part 181c comprise the 1st angle detection apparatus 1c.

  The 2nd rotation angle detection part 13 and the 2nd angle calculation part 182c comprise the 2nd angle detection apparatus 2c.

  The first angle detection device 1c, the second angle detection device 2c, and the torsion angle calculation unit 183a constitute a relative angle detection device 3c according to the second embodiment.

  Since the control block of the torsion angle calculation unit 183a according to the modification of the second embodiment is the same as that of the modification of the first embodiment shown in FIG. 34, the description thereof is omitted here.

Next, the first amplitude fluctuation suppressing unit 1813 and the second amplitude fluctuation suppressing unit 1823 according to the second embodiment will be described. In the following description, the inputs of the first amplitude fluctuation suppressing unit 1813 and the second amplitude fluctuation suppressing unit 1823 are sin θ _i and cos θ _i , and the outputs are sin θ _o and cos θ _o .

  FIG. 38 is a diagram illustrating an example of correction targets in the first amplitude variation suppressing unit and the second amplitude variation suppressing unit according to the second embodiment. In the example shown in FIG. 38, the example in the structure demonstrated using FIGS. 3-7 is shown.

  In the example illustrated in FIG. 38, it is assumed that the axis A ′ of the first multipolar ring magnet 10 </ b> A (second multipolar ring magnet 11 </ b> A) is eccentric with respect to the axis A of the steering shaft 82. In this case, the first rotation angle sensor 12A (first sin sensor 14A, second sin sensor 16A), the second rotation angle sensor 13A (first cos sensor 15A, second cos sensor 17A), and the first multipolar ring magnet 10A ( The distance from the second multipole ring magnet 11A) fluctuates during one rotation of the mechanical angle of the first multipole ring magnet 10A (second multipole ring magnet 11A), and accordingly, the first rotation angle sensor 12A. The amplitude of the sin signal (cos signal) output from the (first sin sensor 14A, second sin sensor 16A) and the second rotation angle sensor 13A (first cos sensor 15A, second cos sensor 17A) varies. In the example shown in FIG. 38 and FIG. 39 below, the first rotation angle sensor 12A (first sin sensor) that periodically varies with one rotation of the mechanical angle of the first multipole ring magnet 10A (second multipole ring magnet 11A). 14A, the second sin sensor 16A) and the second rotation angle sensor 13A (first cos sensor 15A, second cos sensor 17A) are corrected.

  FIG. 39 is a diagram illustrating an example of control blocks of the first amplitude variation suppressing unit and the second amplitude variation suppressing unit according to the second embodiment.

The first amplitude fluctuation suppressing unit 1813 and the second amplitude fluctuation suppressing unit 1823 shown in FIG. 39 calculate the output sin θ _o by the following equation (17). Hereinafter, the following formula (17) is also referred to as a “first amplitude fluctuation correction calculation formula”.

The first amplitude fluctuation suppressing unit 1813 and the second amplitude fluctuation suppressing unit 1823 shown in FIG. 39 are configured so that the above equation (17), that is, the first amplitude fluctuation correction arithmetic expression is previously used as the first sensor correction information and the second sensor correction information. It is stored and set in the first storage unit 1815 and the second storage unit 1825. The first amplitude fluctuation suppressing unit 1813 and the second amplitude fluctuation suppressing unit 1823 use the above equation (17), that is, the first amplitude fluctuation correction arithmetic expression, to output an output in which periodic amplitude fluctuations of the input sin θ _i are suppressed. Calculate sin θ _o and output it.

Also, the first amplitude fluctuation suppressing unit 1813 and the second amplitude fluctuation suppressing unit 1823 shown in FIG. 39 calculate the output cos θ _o by the following equation (18). Hereinafter, the following formula (18) is also referred to as a “second amplitude fluctuation correction calculation formula”.

The first amplitude fluctuation suppressing unit 1813 and the second amplitude fluctuation suppressing unit 1823 shown in FIG. 39 have the above formula (18), that is, the second amplitude fluctuation correction arithmetic expression as the first sensor correction information and the second sensor correction information in advance. It is stored and set in the first storage unit 1815 and the second storage unit 1825. The first amplitude fluctuation suppressing unit 1813 and the second amplitude fluctuation suppressing unit 1823 use the above formula (18), that is, the second amplitude fluctuation correction calculation formula, to output an output in which the periodic amplitude fluctuation of the input cos θ _i is suppressed. Calculate and output cos θ _o .

  As shown in FIGS. 36 and 37, the first angle detection devices 1b and 1c according to the second embodiment include the first amplitude fluctuation suppressing unit 1813, so that the first rotating body 10 with respect to the axis of the steering shaft 82 is provided. It is possible to correct the output amplitude fluctuation of the first rotation angle detector 12 caused by the eccentricity of the shaft center. In addition, the second angle detection devices 2b and 2c according to the second embodiment have the second amplitude fluctuation suppressing unit 1823, which is caused by the eccentricity of the axis of the second rotating body 11 with respect to the axis of the steering shaft 82. It is possible to correct the generated output amplitude fluctuation of the second rotation angle detection unit 13.

  As described above, in the first angle detection devices 1b and 1c according to the second embodiment, the first amplitude fluctuation correction calculation formula and the second amplitude fluctuation correction calculation formula are stored in advance as the first sensor correction information in the first storage unit. 1815, the first amplitude fluctuation suppressing unit 1813 corrects the sin signal and the cos signal using the first amplitude fluctuation correction arithmetic expression and the second amplitude fluctuation correction arithmetic expression. As a result, it is possible to correct fluctuations in the output amplitude of the first rotation angle detector 12 caused by the eccentricity of the axis of the first rotating body 10 with respect to the axis of the steering shaft 82. In the second angle detection devices 2b and 2c according to the second embodiment, the first amplitude fluctuation correction calculation formula and the second amplitude fluctuation correction calculation formula are stored in advance in the second storage unit 1825 as second sensor correction information. The second amplitude fluctuation suppressing unit 1823 corrects the sin signal and the cos signal using the first amplitude fluctuation correction arithmetic expression and the second amplitude fluctuation correction arithmetic expression. As a result, the output amplitude fluctuation of the second rotation angle detector 13 caused by the eccentricity of the axis of the second rotating body 11 with respect to the axis of the steering shaft 82 can be corrected. Thereby, the relative angle detection accuracy in the relative angle detection devices 3b and 3c according to the second embodiment can be improved, and accordingly, the torque sensor 94b including the relative angle detection devices 3b and 3c according to the second embodiment. , 94c can be improved, and the motor control performance of the electric power steering apparatus 80 can be improved.

(Embodiment 3)
FIG. 40 is a schematic diagram illustrating functional blocks of the torque sensor according to the third embodiment. In addition, since the structure of the electric power steering apparatus which concerns on Embodiment 3, and the vehicle carrying an electric power steering apparatus is the same as that of Embodiment 1 and 2 mentioned above, description is abbreviate | omitted here. In addition, the same components as those described in the first and second embodiments are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 40, the torque sensor 94d according to the third embodiment includes a relative angle detection device 3d instead of the relative angle detection device 3 according to the first embodiment shown in FIG. The relative angle detection device 3d includes a relative angle calculation unit 18d instead of the relative angle calculation unit 18 of the first embodiment illustrated in FIG. The relative angle calculation unit 18d includes a first angle calculation unit 181d and a second angle calculation unit 182d instead of the first angle calculation unit 181 and the second angle calculation unit 182 of the first embodiment illustrated in FIG. The first angle calculation unit 181d includes a first sensor phase correction unit 1812 (or first sensor phase correction unit 1812a) of the first embodiment shown in FIG. 21 and a first amplitude fluctuation suppression unit 1813 of the second embodiment shown in FIG. And both. The second angle calculation unit 182d includes both the second sensor phase correction unit 1822 (or the second sensor phase correction unit 1822a) and the second amplitude fluctuation suppression unit 1823 of the second embodiment illustrated in FIG.

  The first rotation angle detector 12 and the first angle calculator 181d constitute a first angle detector 1d.

  The second rotation angle detector 13 and the second angle calculator 182d constitute a second angle detector 2d.

  The first angle detection device 1d, the second angle detection device 2d, and the torsion angle calculation unit 183 constitute a relative angle detection device 3d according to the third embodiment.

  The control block of the twist angle calculation unit 183 according to the third embodiment is the same as that of the first embodiment shown in FIG.

  FIG. 41 is a schematic diagram illustrating functional blocks of a torque sensor according to a modification of the third embodiment. A torque sensor 94e shown in FIG. 41 includes a relative angle detection device 3e instead of the relative angle detection device 3d shown in FIG. The relative angle detection device 3e includes a relative angle calculation unit 18e instead of the relative angle calculation unit 18d shown in FIG. The relative angle calculation unit 18e is replaced with a first angle calculation unit 181e, a second angle calculation unit 182e, a twist angle, instead of the first angle calculation unit 181d, the second angle calculation unit 182d, and the twist angle calculation unit 183 shown in FIG. A calculation unit 183a is provided.

  The 1st rotation angle detection part 12 and the 1st angle calculation part 181e comprise the 1st angle detection apparatus 1e.

  The second rotation angle detector 13 and the second angle calculator 182e constitute a second angle detector 2e.

  The first angle detection device 1e, the second angle detection device 2e, and the torsion angle calculation unit 183a constitute a relative angle detection device 3e according to a modification of the third embodiment.

  The control block of the twist angle calculation unit 183a according to the modification of the third embodiment is the same as the modification of the first embodiment shown in FIG.

  The first angle detection devices 1d and 1e according to the third embodiment are the first sensor phase correction unit 1812 (or the first sensor phase correction unit 1812a) described in the first embodiment and the first amplitude fluctuation suppression described in the second embodiment. The second sensor phase correction unit 1822 (or the second sensor phase correction unit 1822a) described in the first embodiment and the second angle detection devices 2d and 2e according to the third embodiment. By providing both the second amplitude fluctuation suppressing unit 1823 described in the above, the output phase error of the first rotation angle detection unit 12, the output phase error of the second rotation angle detection unit 13, and the mechanical angle of the first rotation body 10 are provided. Output amplitude fluctuation of the first rotation angle detection unit 12 that periodically fluctuates during one rotation of the second rotation angle, and second rotation angle detection unit that fluctuates periodically between one rotation of the mechanical angle of the second rotating body 11 Can be corrected third output amplitude variation, it is possible to detect the rotational angle more accurately than the first and second embodiments.

  As described above, in the first angle detection devices 1d and 1e and the second angle detection devices 2d and 2e according to the third embodiment, the first angle detection devices 1d and 1e include the first sensor phase correction unit 1812 (or Both the first sensor phase correction unit 1812a) and the first amplitude fluctuation suppression unit 1813 are provided, and the second angle detection devices 2d and 2e are the second sensor phase correction unit 1822 (or the second sensor phase correction unit 1822a). And a second amplitude fluctuation suppressing unit 1823. For this reason, the output phase error of the first rotation angle detector 12, the output phase error of the second rotation angle detector 13, and the first rotation angle that periodically varies between one rotation of the mechanical angle of the first rotating body 10. The output amplitude fluctuation of the detection unit 12 and the output amplitude fluctuation of the second rotation angle detection unit 13 that periodically fluctuates between one rotation of the mechanical angle of the second rotating body 11 can be corrected. , 2 can be detected with higher accuracy than 2. Thereby, the relative angle detection accuracy in the relative angle detection devices 3d and 3e according to the third embodiment can be improved as compared with the first and second embodiments, and accordingly, the relative angle detection devices 3d and 3d according to the third embodiment. It is possible to increase the torque calculation accuracy of the torque sensors 94d and 94e provided with 3e as compared with the first and second embodiments, and contribute to the improvement of the motor control performance in the electric power steering device 80 than the first and second embodiments. it can.

(Embodiment 4)
FIG. 42 is a schematic diagram illustrating functional blocks of a torque sensor according to the fourth embodiment. In addition, since the structure of the electric power steering apparatus which concerns on Embodiment 4 and the vehicle carrying an electric power steering apparatus is the same as that of Embodiment 1, 2, 3 mentioned above, description is abbreviate | omitted here. In addition, the same components as those described in the first, second, and third embodiments are denoted by the same reference numerals, and redundant description is omitted.

  A torque sensor 94f according to the fourth embodiment includes a relative angle detection device 3f instead of the relative angle detection device 3d of the third embodiment shown in FIG. The relative angle detection device 3f includes a relative angle calculation unit 18f instead of the relative angle calculation unit 18d of the third embodiment illustrated in FIG. The relative angle calculator 18f includes a twist angle calculator 183b instead of the twist angle calculator 183 of the third embodiment shown in FIG.

  The first angle detection device 1d, the second angle detection device 2d, and the torsion angle calculation unit 183b constitute a relative angle detection device 3f according to the fourth embodiment.

The input shaft rotation angle θ _is obtained by the first angle calculation unit 181d is input to the twist angle calculation unit 183b. Further, the output shaft rotation angle θ _os obtained by the second angle calculation unit 182d is input to the twist angle calculation unit 183a.

The torsion angle calculation unit 183b calculates the relative angle Δθ _io based on the input shaft rotation angle θ _is and the output shaft rotation angle θ _os and outputs the relative angle Δθ _io to the torque calculation unit 19.

  In the example shown in FIG. 42, in addition to the configuration of the third embodiment shown in FIG. 40 described above, the torsion angle calculation unit 183b corrects the shift between the phase of the first rotating body 10 and the phase of the second rotating body 11. Yes.

  FIG. 43 is a diagram illustrating an example of a correction target in the twist angle calculation unit according to the fourth embodiment. In the example shown in FIG. 43, the example in the structure demonstrated using FIGS. 3-7 is shown.

In the example shown in FIG. 43, it is assumed that the phase of the first multipolar ring magnet 10A and the phase of the second multipolar ring magnet 11A are deviated from a predetermined reference position _θref . Specifically, in the example shown in FIG. 43, the phase of the first multipole ring magnet 10A includes an error theta _Mgis respect to a predetermined reference position theta _ref, the reference phase is given a second multipolar ring magnets 11A An example in which an error θ _mgos is included with respect to the position θ _ref is shown. In this case, an error between the phase of the first multipolar ring magnet 10A and the phase of the second multipolar ring magnet 11A, that is, an error between the phase of the first rotating body 10 and the phase of the second rotating body 11 is used. Θ _mg (hereinafter referred to as “rotor phase error”) is expressed by the following equation (19).

That is, in the example shown in FIG. 43, the phase error θ _mg between the rotating bodies is included in the difference Δθ _io between the input shaft rotation angle θ _is and the output shaft rotation angle θ _os . The example shown in FIG. 43 and the following FIG. 44 shows an example in which the difference (θ _is −θ _os ) between the input shaft rotation angle θ _is and the output shaft rotation angle θ _{os is} corrected.

  Next, the torsion angle calculation unit 183b according to the fourth embodiment will be described.

  FIG. 44 is a diagram illustrating an example of a control block of a twist angle calculation unit according to the fourth embodiment.

Twist angle calculating unit 183b shown in FIG. 44 previously rotator between the phase error theta _mg is set as the phase correction information between the rotating body, stored in the third storage unit 1831. Note that the phase error θ _mg between the rotating bodies may be, for example, an average value of errors at a predetermined cycle position with the electrical angle of the first rotating body 10 or the second rotating body 11, or the first rotating body 10 and the first rotating body 10 An error at an arbitrary predetermined position of the two-rotor 11 may be used. The inter-rotor phase error θ _mg may be, for example, a value measured at the time of shipping inspection of the relative angle detection device 3f or the torque sensor 94f.

In the example shown in FIG. 44, the torsion angle calculation unit 183b corrects the difference (θ _is −θ _os ) between the input shaft rotation angle θ _is and the output shaft rotation angle θ _os using the inter-rotor phase error θ _mg. To do. Specifically, the phase error θ _mg between the rotating bodies is subtracted from the difference (θ _is −θ _os ) between the input shaft rotation angle θ _is and the output shaft rotation angle θ _os , that is, the relative angle Δθ _io by the following equation (20). Is calculated.

In the twist angle calculation unit 183b shown in FIG. 44, the above equation (20) is stored and set in the third storage unit 1831 in advance. The torsion angle calculation unit 183b corrects the difference (θ _is −θ _os ) between the input shaft rotation angle θ _is and the output shaft rotation angle θ _os by using the above equation (20), and thereby the input shaft rotation angle. The relative angle Δθ _{io in} which the inter-rotor phase error θ _mg included in the difference (θ _is −θ _os ) between θ _is and the output shaft rotation angle θ _os is suppressed is output.

In addition to the configuration of the third embodiment, the relative angle detection device 3f according to the fourth embodiment has a phase error θ between the rotating bodies based on a difference (θ _is −θ _os ) between the input shaft rotation angle θ _is and the output shaft rotation angle θ _{os. By adopting} a configuration in which the relative angle Δθ _io is calculated by subtracting _mg , it is possible to correct a shift between the phase of the first rotating body 10 and the phase of the second rotating body 11, and higher accuracy than in the third embodiment. In addition, the relative angle between the input shaft 82a and the output shaft 82b can be detected.

  FIG. 45 is a schematic diagram illustrating functional blocks of a torque sensor according to a modification of the fourth embodiment. A torque sensor 94g shown in FIG. 45 includes a relative angle detection device 3g instead of the relative angle detection device 3e of the modification of the third embodiment shown in FIG. The relative angle detection device 3g includes a relative angle calculation unit 18g instead of the relative angle calculation unit 18e of the modification of the third embodiment illustrated in FIG. The relative angle calculation unit 18g includes a twist angle calculation unit 183c instead of the twist angle calculation unit 183a of the modification of the third embodiment illustrated in FIG.

  The first angle detection device 1e, the second angle detection device 2e, and the torsion angle calculation unit 183c constitute a relative angle detection device 3g according to a modification of the fourth embodiment.

The first sin signal sin θ _is and the first cos signal cos θ _is corrected by the first angle calculation unit 181e are input to the twist angle calculation unit 183c. Further, the second sin signal sin θ _os and the second cos signal cos θ _os corrected by the second angle calculation unit 182e are input to the torsion angle calculation unit 183c.

Twist angle calculating unit 183c includes a first 1sin signal sin [theta _IS, obtains a relative angle [Delta] [theta] _io under section 1cos signal cos [theta] _IS, first 2sin signal sin [theta _os, and the 2cos signal cos [theta] _os, and outputs the torque calculating unit 19.

  In the example shown in FIG. 45, in addition to the configuration of the modified example of the third embodiment shown in FIG. 41 described above, the deviation between the phase of the first rotating body 10 and the phase of the second rotating body 11 is corrected by the torsion angle calculation unit 183c. It is configured to do.

  Next, a twist angle calculation unit 183c according to a modification of the fourth embodiment will be described.

  FIG. 46 is a diagram illustrating an example of a control block of a twist angle calculation unit according to a modification of the fourth embodiment.

Twist angle calculating unit 183c shown in FIG. 46 previously rotator between the phase error theta _mg is set as the phase correction information between the rotating body, stored in the third storage unit 1831. Note that the phase error θ _mg between the rotating bodies may be, for example, an average value of errors at a predetermined cycle position with the electrical angle of the first rotating body 10 or the second rotating body 11, or the first rotating body 10 and the first rotating body 10 An error at an arbitrary predetermined position of the two-rotor 11 may be used. The inter-rotor phase error θ _mg may be, for example, a value measured at the time of shipping inspection of the relative angle detection device 3g or the torque sensor 94g.

In the example shown in FIG. 46, the torsion angle calculation unit 183c uses the phase error θ _mg between the rotating bodies to rotate the rotation angle (electrical) of the first rotating body 10 relative to the rotation angle (electrical angle) θ _os of the second rotating body 11. Angle) The relative angle Δθ _io of θ _{is is} corrected. Specifically, the phase error θ _mg between the rotating bodies is subtracted from the relative angle Δθ _io of the rotating angle (electrical angle) θ _is of the first rotating body 10 with respect to the rotating angle (electrical angle) θ _os of the second rotating body 11. That is, the relative angle Δθ _io is calculated by the following equation (21).

In the twist angle calculation unit 183c shown in FIG. 46, the above equation (21) is stored and set in the third storage unit 1831. The torsion angle calculation unit 183c uses the above equation (21) to calculate the relative angle Δθ of the rotation angle (electric angle) θ _is of the first rotation body 10 with respect to the rotation angle (electric angle) θ _os of the second rotation body 11. Calculate _io and output.

In addition to the configuration of the modification of the third embodiment, the relative angle detection device 3g according to the modification of the fourth embodiment adds the rotation angle of the first rotation body 10 with respect to the rotation angle (electrical angle) θ _os of the second rotation body 11 ( The phase of the first rotating body 10 and the phase of the second rotating body 11 are calculated by subtracting the phase error θ _mg between the rotating bodies from the relative angle Δθ _io of the electrical angle) θ _is to calculate the relative angle Δθ _io. And the relative angle between the input shaft 82a and the output shaft 82b can be detected with higher accuracy than in the third embodiment.

  In the present embodiment, similarly to the third embodiment, the first angle calculation unit includes both the first sensor phase correction unit 1812 and the first amplitude fluctuation suppression unit 1813, and the second angle calculation unit includes the second sensor. Although the configuration including both the phase correction unit 1822 and the second amplitude variation suppression unit 1823 is illustrated, the configurations of the first angle calculation unit and the second angle calculation unit are not limited to this, and the first embodiment or the embodiment 2, a first sensor phase correction unit 1812 (second sensor phase correction unit 1822) or a first amplitude fluctuation suppression unit 1813 (second amplitude fluctuation suppression unit 1823) is added to the first angle calculation unit (second angle calculation unit). ) May be provided.

As described above, in addition to the configuration of the third embodiment, the relative angle detection device 3g according to the fourth embodiment includes the input shaft rotation angle θ _is input from the first angle calculation unit 181d and the second angle calculation unit 182d. From the difference (θ _is −θ _os ) from the input output shaft rotation angle θ _os , the phase error between the rotating bodies θ _mg which is an error between the phase of the first rotating body 10 and the phase of the second rotating body 11. The relative angle Δθ _io is calculated by subtracting. In addition to the configuration of the modification of the third embodiment, the relative angle detection device 3g according to the modification of the fourth embodiment includes the first sin signal sin θ _is and the first cos signal cos θ _is input from the first angle calculation unit 181e. The rotation angle of the first rotating body 10 with respect to the rotation angle (electrical angle) θ _os of the second rotating body 11 obtained by the second sin signal sin θ _os and the second cos signal cos θ _os input from the second angle calculating unit 182e. (electrical angle) theta from _is the relative angle [Delta] [theta] _io, the relative angle [Delta] [theta] by subtracting the rotator between the phase error theta _mg which is the error between the phase of the second rotor 11 of the first rotary member 10 _io Is calculated. For this reason, the shift | offset | difference of the phase of the 1st rotary body 10 and the phase of the 2nd rotary body 11 can be correct | amended, and the relative angle of the input shaft 82a and the output shaft 82b is detected more accurately than Embodiment 3. be able to. As a result, the torque calculation accuracy of the torque sensors 94f, 94g including the relative angle detection devices 3f, 3g according to the fourth embodiment can be improved as compared with the third embodiment, and the motor control performance of the electric power steering device 80 can be improved. This can contribute more than the third embodiment.

  In the above-described embodiment, the first angle calculation unit includes the first storage unit, the second angle calculation unit includes the second storage unit, and the torsion angle calculation unit includes the third storage unit. However, the configuration of the storage unit is not limited to the above. For example, the first angle calculation unit may have one storage unit, the second angle calculation unit may have one storage unit, or the torsion angle calculation unit may have one storage unit. The structure which has a part may be sufficient. Alternatively, the first angle calculation unit, the second angle calculation unit, or the torsion angle calculation unit may be included, and the relative angle calculation unit may have one storage unit. The present invention is not limited to the configuration unit provided with the storage unit.

1, 1a, 1b, 1c, 1d, 1e First angle detectors 2, 2a, 2b, 2c, 2d, 2e Second angle detectors 3, 3A, 3C, 3D, 3E, 3F, 3a, 3b, 3c, 3d, 3e, 3f, 3g Relative angle detector 10 First rotating body 10A First multipole ring magnet 10B Third multipole ring magnet 10C First rotor 10D First code wheel 10E First target 10F Third target 11 Second Rotating body 11A Second multipole ring magnet 11B Fourth multipole ring magnet 11C Second rotor 11D Second code wheel 11E Second target 11F Fourth target 12 First rotation angle detectors 12A, 12B First rotation angle sensor 12C 1 stator 12D 3rd rotation angle sensor 12E 5th rotation angle sensor 12F 7th rotation angle sensor 13 2nd rotation angle detection part 13A, 13B Second rotation angle sensor 13C Second stator 13D Fourth rotation angle sensor 13E Sixth rotation angle sensor 13F Eighth rotation angle sensors 14A, 14B First sin sensors 15A, 15B First cos sensors 16A, 16B Second sin sensors 17A, 17B Second cos Sensors 18, 18a, 18b, 18c, 18d, 18e, 18f, 18g Relative angle calculation unit 19 Torque calculation unit 50 First resolver 51 Second resolver 56 Excitation signal supply unit 80 Electric power steering device 81 Steering wheel 82 Steering shaft 82a Input Shaft 82b Output shaft 82c Torsion bar 90 ECU (motor control device)
92 Decelerator 93 Motor 94, 94A, 94B, 94C, 94D, 94E, 94F, 94a, 94b, 94c, 94d, 94e, 94f, 94g Torque sensor 95 Vehicle speed sensor 98 Ignition switch 99 Power supply device 100, 100A, 100B, 100C , 100D, 100E, 100F Sensor unit 101 Vehicles 181, 181 a, 181 b, 181 c, 181 d, 181 e First angle calculation unit 182, 182 a, 182 b, 182 c, 182 d, 182 e Second angle calculation unit 183, 183 a, 183 b, 183 c Twist Angle calculation unit 1811 First normalization processing units 1811a, 1821a Offset voltage correction units 1811b, 1821b Amplitude correction unit 1812 First sensor phase correction unit 1813 First amplitude fluctuation suppression unit 1814 First rotation angle calculation unit 1815 First憶部 1821 second normalization processing section 1822 second sensor phase correcting section 1823 second amplitude fluctuation suppressing unit 1824 second rotation angle computation section 1825 second storage unit 1831 third storage unit

Claims (14)

A rotating body that rotates about a rotation axis;
A sensor unit that detects a rotation angle of the rotating body and outputs a sin signal and a cos signal;
The value of the sin signal output from the sensor unit according to the rotation angle of the rotating body is made to approach the value of the reference sin signal of the rotation angle of the rotating body, or according to the rotation angle of the rotating body. A storage unit for storing sensor correction information set in advance so that the value of the cos signal output by the sensor unit approaches the value of the reference cos signal of the rotation angle of the rotating body;
An angle calculator that corrects at least one of the sin signal or the cos signal based on the sensor correction information;
An angle detection device. The average value of the sin signal is Vsinave, the input signal values are sin θ _i and cos θ _i , the output signal values are sin θ _o and cos θ _o , and the V sinave is stored in the storage unit as the sensor correction information,
The angle calculator is
The angle detection device according to claim 1, wherein the sin θ _o is calculated using the following formula (1).

The average value of the cos signal is Vcosave, the input signal values are sin θ _i and cos θ _i , the output signal values are sin θ _o and cos θ _o , and the Vcosave is stored in the storage unit as the sensor correction information,
The angle calculator is
The angle detection device according to claim 1, wherein the cos θ _o is calculated using the following formula (2).

The maximum value of the sin signal is Vsinmax, the minimum value of the sin signal is Vsinmin, the input signal values are sinθ _i and cosθ _i , the output signal values are sinθ _o and cosθ _o , and the Vsinmax and Vsinmin are the sensor corrections. Stored as information in the storage unit,
The angle calculator is
The angle detection device according to any one of claims 1 to 3, wherein the sin? _O is calculated using the following formula (3).

The maximum value of the cos signal is Vcosmax, the minimum value of the cos signal is Vcosmin, the input signal values are sin θ _i and cos θ _i , the output signal values are sin θ _o and cos θ _o , and the Vcosmax and Vcosmin are the sensor corrections. Stored as information in the storage unit,
The angle calculator is
The angle detection device according to any one of claims 1 to 4, wherein the cos θ _o is calculated using the following equation (4).

The sensor phase error between the output phase of the sin signal and the output phase of the cos signal is θ _ic , the input signal value is sin θ _i and cos (θ _i + θ _ic ), and the output signal value is sin θ _o and cos θ _o. And θ _ic is stored in the storage unit as the sensor correction information,
The angle calculator is
The angle detection device according to claim 1, wherein the sin θ _o is calculated using the following formula (5), and the cos θ _o is calculated using the following formula (6).

The sensor phase error between the output phase of the sin signal and the output phase of the cos signal is θ _ic , the input signal value is sin (θ _i + θ _ic ), cos θ _i , the output signal value is sin θ _o , and cos θ _o. And θ _ic is stored in the storage unit as the sensor correction information,
The angle calculator is
The angle detection device according to claim 1, wherein the cos θ _o is calculated using the following formula (7), and the sin θ _o is calculated using the following formula (8).

The input signal values are sin θ _i and cos θ _i , the output signal values are sin θ _o and cos θ _o ,
The angle calculator is
The angle detection device according to any one of claims 1 to 7, wherein the sin θ _o is calculated using the following formula (9), and the cos θ _o is calculated using the following formula (10).

Two angle detection devices according to any one of claims 1 to 8 are provided,
The rotation axes of both of the two angle detection devices are arranged coaxially;
A torsion angle calculation unit that calculates a relative angle between the rotation angle of the rotating body of one of the angle detection devices and the rotation angle of the rotation body of the other angle detection device;
A relative angle detection device. The phase error between the rotating bodies between the phase of the one rotating body of the two angle detecting devices and the phase of the other rotating body is θ _mg , and one of the two angle detecting devices obtained by one of the two angle detecting devices The rotation angle of the rotating body _is θ _is , the rotation angle of the other rotating body obtained on the other side is θ _os , the relative angle is Δθ _io , and the θ _mg is stored in the storage unit,
The twist angle calculation unit is
The relative angle detection device according to claim 9, wherein the Δθ _io is calculated using the following formula (11).

The phase error between the rotating bodies between the phase of the one rotating body of the two angle detecting devices and the phase of the other rotating body is θ _mg , and the sin signal obtained by one of the two angle detecting devices , Sinθ _is and cos signal are cosθ _is , the sin signal obtained on the other side _is sinθ _os and cos signal is cosθ _os , the relative angle is Δθ _io , and the θ _mg is stored in the storage unit,
The twist angle calculation unit is
The relative angle detection device according to claim 9, wherein the Δθ _io is calculated using the following formula (12).

A relative angle detection device according to any one of claims 9 to 11,
A torque calculator that calculates torque based on the relative angle;
With
A torque sensor in which the rotation shafts of both of the two angle detection devices are connected via a torsion bar.   An electric power steering apparatus comprising the torque sensor according to claim 12.   A vehicle comprising the electric power steering device according to claim 13.

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